Group unmanned aerial vehicle form interaction method, device and system and medium

Abstract

The invention discloses a group unmanned aerial vehicle form interaction method, device and system and a medium, and the method comprises the steps: displaying a human-computer interaction interface in a screen of observation equipment, and the human-computer interaction interface is provided with a display window and a first trigger control; when it is determined that the first trigger control is triggered, real-time position coordinates of all the unmanned aerial vehicles are obtained; establishing a space coordinate system in the display window, taking the position of the observation equipment as an original point, taking the upper part of the position of the observation equipment as a z-axis direction, taking the east of the position of the observation equipment as an x-axis direction, and taking the north of the position of the observation equipment as a y-axis direction; determining a corresponding mapping position in the space coordinate system; and placing the marking elements in the corresponding mapping positions. According to the invention, director personnel can conveniently and integrally check the form of the whole group of unmanned aerial vehicles in operation. And the usability of the director to grasp the operation form of the group of unmanned aerial vehicles is improved. The method is mainly applied to the technical field of group unmanned aerial vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of swarm drone technology, and in particular to a swarm drone morphological interaction method, device, system and medium. Background Art

[0002] Drone performance is a new type of art performance that uses multiple drones to fly collectively and work collaboratively through programming and remote control technology, displaying various complex flight trajectories in the air, forming exquisite patterns, texts or light shows, and is often closely combined with other elements such as music and fireworks, thereby bringing visual and auditory shocking effects to the audience.

[0003] During drone performance rehearsals, the swarm is typically observed to ensure that the drones' formations meet design requirements, confirming the position of each drone. Currently, directors observe the swarm's formations from a distance. This approach hinders the director's ability to grasp the overall situation. Therefore, how to facilitate directors' understanding and control of the swarm's formations is a technical issue that needs to be researched within the industry. Summary of the Invention

[0004] The present invention provides a method, device, system and medium for group drone morphological interaction to solve one or more technical problems existing in the prior art and at least provide a beneficial option or create conditions.

[0005] The present invention provides a group drone morphological interaction method, comprising: displaying a human-computer interaction interface on a screen of an observation device, wherein the human-computer interaction interface is provided with a display window and a first trigger control; when it is determined that the first trigger control is triggered, obtaining the real-time position coordinates of each drone; establishing a spatial coordinate system in the display window, wherein the position of the observation device is used as the origin, the direction above the position of the observation device is used as the z-axis direction, the direction east of the position of the observation device is used as the x-axis direction, and the direction north of the position of the observation device is used as the y-axis direction; determining a corresponding mapping position in the spatial coordinate system according to the real-time position coordinates; and placing a marking element in the corresponding mapping position.

[0006] Furthermore, the human-computer interaction interface is also provided with a second trigger control; in response to the triggering of the second trigger control, the x-axis coordinate values of all current marking elements are displayed through labels, and when the user triggers one of the x-axis coordinate values, the x-axis coordinate value is recorded as the target x-axis coordinate value; the marking elements with the same target x-axis coordinate value are connected in sequence according to the number of the drone through the set first color segment, and the marking elements not connected by the first color segment are hidden.

[0007] Furthermore, the human-computer interaction interface is also provided with a third trigger control; in response to the triggering of the third trigger control, the y-axis coordinate values of all current marking elements are displayed through labels, and when the user triggers one of the y-axis coordinate values, the y-axis coordinate value is recorded as the target y-axis coordinate value; the marking elements with the same target y-axis coordinate value are connected in sequence according to the number of the drone through the set second color line segment, and the marking elements not connected by the second color line segment are hidden.

[0008] Furthermore, the human-computer interaction interface is also provided with a fourth trigger control; in response to the triggering of the fourth trigger control, the z-axis coordinate values of all current marking elements are displayed through labels, and when the user triggers one of the z-axis coordinate values, the z-axis coordinate value is recorded as the target z-axis coordinate value; the marking elements with the same target z-axis coordinate value are connected in sequence according to the number of the drone through the set third color line segment, and the marking elements not connected by the third color line segment are hidden.

[0009] Furthermore, the human-computer interaction interface is also provided with a fifth trigger control. In response to the triggering of the fifth trigger control, a picture selection link window is displayed, a target picture is selected through the picture selection link window, and the target picture is inserted into the display window as a background.

[0010] On the other hand, a swarm drone morphology interaction device is provided, comprising: a processor and a memory, the memory being used to store a computer-readable program; when the computer-readable program is executed by the processor, the processor implements the swarm drone morphology interaction method as described in any one of the above technical solutions.

[0011] In another aspect, a swarm drone morphology interaction system is provided, comprising: a display module, a determination module, a creation module, a mapping module, and a placement module; The display module is used to: display a human-computer interaction interface on the screen of the observation device, wherein the human-computer interaction interface is provided with a display window and a first trigger control; The determining module is used to: determine that the first trigger control is triggered, and then obtain the real-time position coordinates of each drone; The establishment module is used to: establish a spatial coordinate system in the display window, wherein the position of the observation device is the origin, the upper side of the observation device is the z-axis direction, the east side of the observation device is the x-axis direction, and the north side of the observation device is the y-axis direction; The mapping module is used to: determine a corresponding mapping position in the spatial coordinate system according to the real-time position coordinates; The placement module is used to place a marking element in the corresponding mapping position.

[0012] Furthermore, the human-computer interaction interface is also provided with a second trigger control; the determination module is also used to: respond to the triggering of the second trigger control, display the x-axis coordinate values of all current marking elements through labels, obtain the user's triggering of one of the x-axis coordinate values, and record the x-axis coordinate value as the target x-axis coordinate value; connect the marking elements with the same target x-axis coordinate value in sequence according to the number of the drone through the set first color segment, and hide the marking elements that are not connected by the first color segment.

[0013] Furthermore, the human-computer interaction interface is also provided with a third trigger control; the determination module is also used to: respond to the triggering of the third trigger control, display the y-axis coordinate values of all current marking elements through labels, obtain the user's triggering of one of the y-axis coordinate values, and record the y-axis coordinate value as the target y-axis coordinate value; connect the marking elements with the same target y-axis coordinate value in sequence according to the number of the drone through the set second color line segment, and hide the marking elements that are not connected by the second color line segment.

[0014] On the other hand, a computer-readable storage medium is provided, which stores a program executable by a processor. When the program executable by the processor is executed by the processor, it is used to implement the group drone morphological interaction method as described in any one of the above technical solutions.

[0015] The present invention has at least the following beneficial effects: The method of the present invention utilizes a human-machine interface within the observation device to display the positions of the swarm of drones. This facilitates the director's overall view of the entire swarm's operational configuration, improving the director's ease of understanding the swarm's operational configuration. The present invention also provides corresponding devices, systems, and media. The beneficial effects of these devices, systems, and media are similar to those of the method and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation to the technical solution of the present invention.

[0017] Figure 1 It is a flowchart of the steps of the swarm drone morphological interaction method; Figure 2 This is a schematic diagram of the device structure of a group drone morphological interaction device; Figure 3 It is a schematic diagram of the system connection structure of the swarm drone morphological interaction system. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] It should be noted that although the system diagrams illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the system or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0020] refer to Figure 1 , Figure 1 It is a flowchart of the steps of the swarm drone morphological interaction method.

[0021] The present invention mainly designs a reasonable swarm drone morphology interaction mode to help directors grasp the swarm drone morphology from a global perspective.

[0022] The present swarm drone morphological interaction method can be executed by a software program. When the software program is executed, the steps of the execution include: Step 1: Display a human-computer interaction interface on a screen of an observation device, wherein the human-computer interaction interface is provided with a display window and a first trigger control.

[0023] The software program establishes a connection with the observation device and displays a human-computer interaction interface on the device's screen. To facilitate observation by the director, a display window is provided on the human-computer interaction interface. This display window maps the drone swarm during the performance, allowing the director to view the entire drone swarm through the display window. To inform the software program of the results, a first trigger control is also provided on the human-computer interaction interface.

[0024] Step 2: If the first trigger control is triggered, the real-time position coordinates of each drone are obtained.

[0025] When the director needs to view the swarm's drone formation, they can trigger the first trigger control. Once the software program confirms the triggering of the first trigger control, it retrieves the real-time location coordinates of each drone in the swarm. After each drone in the swarm takes off, it transmits its current location coordinates to the observation device in real time. The software program retrieves the real-time location coordinates of each drone from the storage unit in the observation device. These real-time location coordinates are three-dimensional coordinates formed by longitude, latitude, and altitude.

[0026] Step 3. Establish a spatial coordinate system in the display window, where the location of the observation device is the origin, the top of the location of the observation device is the z-axis direction, the east of the location of the observation device is the x-axis direction, and the north of the location of the observation device is the y-axis direction.

[0027] To display the real-time coordinates of each drone in the display window, the software program must establish a spatial coordinate system in the display window. This spatial coordinate system uses the observation device's location as the origin. The z-axis is directly above the observation device, the x-axis is east of the observation device, and the y-axis is north of the observation device.

[0028] Step 4: Determine a corresponding mapping position in the spatial coordinate system according to the real-time position coordinates.

[0029] After establishing the spatial coordinate system, the software program will convert the real-time position coordinates of the drone into mapping coordinates in the spatial coordinate system to obtain the corresponding mapping position.

[0030] The conversion method specifically includes: converting the drone's real-time position coordinates into geocentric rectangular coordinates, marking the converted coordinates as the drone coordinates; converting the coordinates of the observation device's location into geocentric rectangular coordinates, marking the converted coordinates as the origin coordinates. Calculating the offset between the drone coordinates and the origin coordinates. Based on the axial definition of the spatial coordinate system, a rotation matrix is constructed, and the offset is applied to the rotation matrix to obtain the mapped position coordinates.

[0031] The following is a specific example to further illustrate the conversion method. Assume that the real-time position coordinates of the drone are: , the coordinates of the location of the observation device are: .

[0032] and Expressed as longitude, and Expressed as latitude, and Expressed as height.

[0033] The real-time position coordinates are converted into geocentric rectangular coordinates by simplifying the earth transformation model, and the converted coordinates are marked as drone coordinates.

[0034] Specifically: ; Where R represents the radius of the earth, and the coordinates of the drone are .

[0035] The coordinates of the location of the observation device are converted into geocentric rectangular coordinates by simplifying the earth transformation model, and the converted coordinates are marked as the origin coordinates.

[0036] Specifically: ; Where R represents the radius of the earth, and the origin coordinates are .

[0037] Calculate the offset between the drone coordinates and the origin coordinates.

[0038] Specifically: Calculate the offset in the x-axis direction : ; Calculate the offset in the y-axis direction : ; Calculate the offset in the z-axis direction : .

[0039] According to the axial definition of the spatial coordinate system, a rotation matrix is constructed, and the offset is passed through the rotation matrix to obtain the mapping position coordinates.

[0040] Specifically: ; in, It is the mapping position coordinate of the UAV in the spatial coordinate system.

[0041] Step 5: Place a marking element in the corresponding mapping position.

[0042] After the software program determines the mapping position coordinates, in order to facilitate people to easily view the drone in the spatial coordinate system, it will place the pre-set marker elements in the corresponding mapping coordinates, and reflect the drone through the marker elements.

[0043] This invention incorporates a human-machine interface into the observation device to display the positions of the swarm's drones. This facilitates the director's overall view of the swarm's operational configuration, improving the director's ease of understanding the swarm's operational configuration.

[0044] In some further specific embodiments, the human-computer interaction interface is further provided with a second trigger control; in response to the triggering of the second trigger control, the x-axis coordinate values of all current marking elements are displayed through labels, and when the user triggers one of the x-axis coordinate values, the x-axis coordinate value is recorded as the target x-axis coordinate value; the marking elements with the same target x-axis coordinate value are connected in sequence according to the number of the drone through the set first color segment, and the marking elements not connected by the first color segment are hidden.

[0045] To facilitate the director's viewing of each drone layer along the x-axis (east), the software program displays the x-axis coordinate values of all marked elements in response to a second trigger control. The user triggers the control to determine the corresponding x-axis coordinate value. This x-axis coordinate value is then recorded as the target x-axis coordinate value. Lines with the same target x-axis coordinate are connected using a first colored line segment. These lines mark the drone's position, making it easier for the director to view.

[0046] In some further specific embodiments, the human-computer interaction interface is further provided with a third trigger control; in response to the triggering of the third trigger control, the y-axis coordinate values of all current marking elements are displayed through labels, and when the user triggers one of the y-axis coordinate values, the y-axis coordinate value is recorded as the target y-axis coordinate value; the marking elements with the same target y-axis coordinate value are connected in sequence according to the number of the drone through the set second color line segments, and the marking elements not connected by the second color line segments are hidden.

[0047] To facilitate the director's viewing of each layer's drone position along the y-axis (north), the software program displays the y-axis coordinate values of all marked elements in response to a third trigger control. The user triggers the control to determine the corresponding y-axis coordinate value. This y-axis coordinate value is then recorded as the target y-axis coordinate value. A second colored line segment is then used to connect those with the same target y-axis coordinate. These lines mark the drone's position, making it easier for the director to view.

[0048] In some further specific embodiments, the human-computer interaction interface is further provided with a fourth trigger control. In response to the triggering of the fourth trigger control, the z-axis coordinate values of all current marked elements are displayed via labels. When the user triggers one of the z-axis coordinate values, the z-axis coordinate value is recorded as the target z-axis coordinate value. Marked elements with the same target z-axis coordinate value are connected in sequence according to the drone numbers using a set third color line segment, and marked elements not connected by the third color line segment are hidden.

[0049] To facilitate the director's viewing of each layer's drone position along the z-axis (upward), the software program displays the z-axis coordinate values of all marked elements in response to the fourth trigger control. The user triggers the control to determine the corresponding z-axis coordinate value they wish to view. This z-axis coordinate value is then recorded as the target z-axis coordinate value. Lines with the same target z-axis coordinate are connected using a third colored line segment. These lines mark the drone's position, making it easier for the director to view.

[0050] In order to facilitate the director to see the situation of the swarm of drones in different backgrounds, in some further specific embodiments, the human-computer interaction interface is further provided with a fifth trigger control. In response to the triggering of the fifth trigger control, a picture selection link window is displayed. A target picture is selected through the picture selection link window and the target picture is inserted into the display window as the background.

[0051] When a director needs to change the background of the presentation window on the human-computer interaction interface, they can trigger the fifth trigger control. The software program responds to the triggering of the fifth trigger control and then calls up a picture selection link window. The user selects a pre-stored target picture through the picture selection link window. The software program inserts the target picture as the background into the presentation window.

[0052] On the other hand, reference Figure 2 , Figure 2 This is a schematic diagram of the device structure of a swarm drone-shaped interactive device.

[0053] A swarm drone morphological interaction device is provided, comprising: a processor and a memory; wherein the memory is configured to store a computer-readable program. When the computer-readable program is executed by the processor, the processor implements the swarm drone morphological interaction method described in any one of the above technical solutions.

[0054] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. As is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0055] On the other hand, reference Figure 3 , Figure 3 It is a schematic diagram of the system connection structure of the swarm drone morphological interaction system.

[0056] A swarm UAV morphological interaction system is provided, comprising: a display module, a determination module, an establishment module, a mapping module and a placement module.

[0057] The display module is used to display a human-computer interaction interface on a screen of an observation device, wherein the human-computer interaction interface is provided with a display window and a first trigger control.

[0058] The display module establishes a connection with the observation device and displays a human-computer interface on the device's screen. To facilitate observation by the director, a display window is provided on the human-computer interface. This window maps the drone swarm during the performance, allowing the director to view the entire drone swarm through the display window. To inform the software program of the results, a first trigger control is also provided on the human-computer interface.

[0059] The determining module is used to: determine that the first trigger control is triggered, and then obtain the real-time position coordinates of each drone.

[0060] When the director needs to check the formation of the swarm of drones, they can trigger the first trigger control. Once the determination module confirms the triggering of the first trigger control, it obtains the real-time position coordinates of each drone in the swarm. After each drone in the swarm takes off, it transmits its current position coordinates to the observation device in real time. The software program obtains the real-time position coordinates of each drone from the storage unit in the observation device. These real-time position coordinates are three-dimensional coordinates formed by longitude, latitude, and altitude.

[0061] The establishment module is used to establish a spatial coordinate system in the display window, wherein the position of the observation device is the origin, the top of the observation device is the z-axis direction, the east of the observation device is the x-axis direction, and the north of the observation device is the y-axis direction.

[0062] To display the real-time coordinates of each drone in the display window, the creation module must establish a spatial coordinate system in the display window. This spatial coordinate system uses the observation device's location as its origin. The z-axis is directly above the observation device, the x-axis is east of the observation device, and the y-axis is north of the observation device.

[0063] The mapping module is used to determine a corresponding mapping position in the spatial coordinate system according to the real-time position coordinates.

[0064] After establishing the spatial coordinate system, the mapping module will convert the real-time position coordinates of the drone into mapping coordinates in the spatial coordinate system to obtain the corresponding mapping position.

[0065] The conversion method specifically includes: converting the drone's real-time position coordinates into geocentric rectangular coordinates, marking the converted coordinates as the drone coordinates; converting the coordinates of the observation device's location into geocentric rectangular coordinates, marking the converted coordinates as the origin coordinates. Calculating the offset between the drone coordinates and the origin coordinates. Based on the axial definition of the spatial coordinate system, a rotation matrix is constructed, and the offset is applied to the rotation matrix to obtain the mapped position coordinates.

[0066] The following is a specific example to further illustrate the conversion method. Assume that the real-time position coordinates of the drone are: , the coordinates of the location of the observation device are: .

[0067] and Expressed as longitude, and Expressed as latitude, and Expressed as height.

[0068] The real-time position coordinates are converted into geocentric rectangular coordinates by simplifying the earth transformation model, and the converted coordinates are marked as drone coordinates.

[0069] Specifically: ; Where R represents the radius of the earth, and the coordinates of the drone are .

[0070] The coordinates of the location of the observation device are converted into geocentric rectangular coordinates by simplifying the earth transformation model, and the converted coordinates are marked as the origin coordinates.

[0071] Specifically: ; Where R represents the radius of the earth, and the origin coordinates are .

[0072] Calculate the offset between the drone coordinates and the origin coordinates.

[0073] Specifically: Calculate the offset in the x-axis direction : ; Calculate the offset in the y-axis direction : ; Calculate the offset in the z-axis direction : .

[0074] According to the axial definition of the spatial coordinate system, a rotation matrix is constructed, and the offset is passed through the rotation matrix to obtain the mapping position coordinates.

[0075] Specifically: ; in, It is the mapping position coordinate of the UAV in the spatial coordinate system.

[0076] The placement module is used to place a marking element in the corresponding mapping position.

[0077] After the placement module determines the mapping position coordinates, it will place the pre-set marker elements in the corresponding mapping coordinates to facilitate people to view the drone in the spatial coordinate system, and the drone will be represented by the marker elements.

[0078] In some further specific embodiments, the human-computer interaction interface is further provided with a second trigger control; the determination module is further used to: respond to the triggering of the second trigger control, display the x-axis coordinate values of all current marking elements through labels, obtain the user's triggering of one of the x-axis coordinate values, and record the x-axis coordinate value as the target x-axis coordinate value; connect the marking elements with the same target x-axis coordinate value in sequence according to the number of the drone through the set first color line segment, and hide the marking elements that are not connected by the first color line segment.

[0079] To facilitate the director's viewing of the drones on each floor along the x-axis (east), the determination module responds to the second trigger control and displays the x-axis coordinate values of all marked elements. The user triggers the control to determine the corresponding x-axis coordinate value. This x-axis coordinate value is then recorded as the target x-axis coordinate value. Lines with the same target x-axis coordinate are connected using a first colored line segment. These lines mark the drone's configuration, making it easier for the director to view.

[0080] In some further specific embodiments, the human-computer interaction interface is further provided with a third trigger control; the determination module is further used to: respond to the triggering of the third trigger control, display the y-axis coordinate values of all current marking elements through labels, obtain the user's triggering of one of the y-axis coordinate values, and record the y-axis coordinate value as the target y-axis coordinate value; connect the marking elements with the same target y-axis coordinate value in sequence according to the number of the drone through the set second color line segment, and hide the marking elements that are not connected by the second color line segment.

[0081] To facilitate the director's viewing of each drone's position on the y-axis (north direction), the determination module responds to the third trigger control and displays the y-axis coordinate values of all marked elements. The user triggers the control to determine the corresponding y-axis coordinate value. This y-axis coordinate value is then recorded as the target y-axis coordinate value. Lines with the same target y-axis coordinate are connected using a second colored line segment. These lines mark the drone's position, making it easier for the director to view.

[0082] In some further specific embodiments, the human-computer interaction interface is further provided with a fourth trigger control. The determination module is further configured to: in response to the triggering of the fourth trigger control, display the z-axis coordinate values of all current marking elements via labels; upon receiving a user trigger on one of the z-axis coordinate values, record the z-axis coordinate value as the target z-axis coordinate value; connect marking elements with the same target z-axis coordinate value in order according to the drone number using a set third color line segment, and hide marking elements not connected by the third color line segment.

[0083] To facilitate the director's viewing of each drone's position on the z-axis (upward), the determination module responds to the fourth trigger control and displays the z-axis coordinate values of all marked elements. The user triggers the control to determine the corresponding z-axis coordinate value. This z-axis coordinate value is then recorded as the target z-axis coordinate value. Lines with the same target z-axis coordinate are connected using a third colored line segment. These lines mark the drone's position, making it easier for the director to view.

[0084] On the other hand, a computer-readable storage medium is provided, which stores a program executable by a processor. When the program executable by the processor is executed by the processor, it is used to implement the group drone morphological interaction method as described in any one of the above specific embodiments.

[0085] An embodiment of the present application also discloses a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the group drone morphological interaction method as described in any of the previous embodiments.

[0086] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0087] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0088] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0089] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0090] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0091] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as 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.

[0092] Although the description of the present application has been quite detailed and specifically describes several embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, but should be considered to provide a broad possible interpretation of these claims by reference to the appended claims, taking into account the prior art, so as to effectively cover the intended scope of the present application. In addition, the above description of the present application is based on the embodiments foreseen by the inventors, which is intended to provide a useful description, and those non-substantial changes to the present application that have not yet been foreseen may still represent equivalent changes to the present application.

Claims

1. A swarm drone morphology interaction method, characterized in that: include: Displaying a human-computer interaction interface on a screen of an observation device, wherein the human-computer interaction interface is provided with a display window and a first trigger control; If the first trigger control is triggered, the real-time position coordinates of each drone are obtained; Establish a spatial coordinate system in the display window, where the location of the observation device is the origin, the direction above the location of the observation device is the z-axis, the direction east of the location of the observation device is the x-axis, and the direction north of the location of the observation device is the y-axis; Determining a corresponding mapping position in the spatial coordinate system according to the real-time position coordinates; A marker element is placed in the corresponding mapped position.

2. A swarm drone morphological interaction method according to claim 1, characterized in that: The human-computer interaction interface is also provided with a second trigger control; in response to the triggering of the second trigger control, the x-axis coordinate values of all current marking elements are displayed through labels, and when the user triggers one of the x-axis coordinate values, the x-axis coordinate value is recorded as the target x-axis coordinate value; the marking elements with the same target x-axis coordinate value are connected in sequence according to the drone number through the set first color segment, and the marking elements not connected by the first color segment are hidden.

3. The method for swarm drone interaction according to claim 1, characterized in that: The human-computer interaction interface is also provided with a third trigger control; in response to the triggering of the third trigger control, the y-axis coordinate values of all current marking elements are displayed through labels, and when the user triggers one of the y-axis coordinate values, the y-axis coordinate value is recorded as the target y-axis coordinate value; the marking elements with the same target y-axis coordinate value are connected in sequence according to the drone number through the set second color line segment, and the marking elements not connected by the second color line segment are hidden.

4. The method for swarm drone interaction according to claim 1, characterized in that: The human-computer interaction interface is also provided with a fourth trigger control; in response to the triggering of the fourth trigger control, the z-axis coordinate values of all current marking elements are displayed through labels, and when the user triggers one of the z-axis coordinate values, the z-axis coordinate value is recorded as the target z-axis coordinate value; the marking elements with the same target z-axis coordinate value are connected in sequence according to the drone number through the set third color line segment, and the marking elements not connected by the third color line segment are hidden.

5. The method for swarm drone interaction according to claim 1, characterized in that: The human-computer interaction interface is also provided with a fifth trigger control. In response to the triggering of the fifth trigger control, a picture selection link window is displayed. A target picture is selected through the picture selection link window, and the target picture is inserted into the display window as a background.

6. A group drone morphology interaction device, characterized in that: include: processor; a memory for storing a computer-readable program; When the computer-readable program is executed by the processor, the processor implements the swarm drone morphological interaction method as described in any one of claims 1 to 5.

7. A swarm drone morphological interaction system, characterized in that: include: Show modules, identify modules, build modules, map modules, and place modules; The display module is used to: display a human-computer interaction interface on the screen of the observation device, wherein the human-computer interaction interface is provided with a display window and a first trigger control; The determining module is used to: determine that the first trigger control is triggered, and then obtain the real-time position coordinates of each drone; The establishment module is used to: establish a spatial coordinate system in the display window, wherein the position of the observation device is the origin, the upper side of the observation device is the z-axis direction, the east side of the observation device is the x-axis direction, and the north side of the observation device is the y-axis direction; The mapping module is used to: determine a corresponding mapping position in the spatial coordinate system according to the real-time position coordinates; The placement module is used to place a marking element in the corresponding mapping position.

8. A swarm drone morphology interaction system according to claim 7, characterized in that the human-computer interaction interface is also provided with a second trigger control; the determination module is also used to: respond to the triggering of the second trigger control, display the x-axis coordinate values of all current marking elements through labels, obtain the user's triggering of one of the x-axis coordinate values, and record the x-axis coordinate value as the target x-axis coordinate value; connect the marking elements with the same target x-axis coordinate value in sequence according to the drone number through the set first color segment, and hide the marking elements not connected by the first color segment.

9. A swarm drone morphology interaction system according to claim 7, characterized in that the human-computer interaction interface is also provided with a third trigger control; the determination module is also used to: respond to the triggering of the third trigger control, display the y-axis coordinate values of all current marking elements through labels, obtain the user's triggering of one of the y-axis coordinate values, and record the y-axis coordinate value as the target y-axis coordinate value; connect the marking elements with the same target y-axis coordinate value in sequence according to the drone number through the set second color line segment, and hide the marking elements that are not connected by the second color line segment.

10. A computer-readable storage medium, characterized in that A processor-executable program is stored therein, and when the processor-executable program is executed by the processor, it is used to implement the group drone morphological interaction method as described in any one of claims 1 to 5.

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