Unmanned aerial vehicle dance step splicing method and system based on virtual placement

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle dance step splicing method and system based on virtual placement, and the method comprises the following steps: S1, making half-flow dance steps, and uploading the half-flow dance steps to a ground station; s2, loading a half-flow dance step on a ground station and obtaining a first frame projection; s3, the boxes are placed on site, and the first airplane and the first airplane in the head box and the tail box in each row are powered on; s4, virtual placement point location information is generated according to the airplane reporting position; s5, the ground station generates a take-off and landing multi-layer square matrix according to the virtual placement point position information; and S6, the ground station splices the takeoff and landing multi-layer square matrix and the middle half-flow dance step to synthesize and complete the dance step. According to the dance step splicing method, on the basis of the power-on function of part of aircrafts, virtual placement is generated by means of the point location positions of part of aircrafts, the dance step intermediate performance content and the ground placement position are decoupled, and the problem that strict placement is not needed when boxes are placed is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of drones, and in particular relates to a drone dance step splicing method and system based on virtual placement. Background Art

[0002] Currently, a new form of drone formation performance using boxes has emerged in the global drone formation performance industry. The drones are stored in the boxes, and before the operational flight, after the boxes are placed, the drone formation performance flight can be carried out directly by opening the boxes.

[0003] Because traditional ground-based placement requires drones to be evenly spaced, there are some limitations when operating the boxes. For example, boxes must be neatly arranged, with no gaps between them, no significant deviations, and no angular deviation between the last box and the first box. This makes actual box placement very difficult and increases the time required for post-placement adjustments. Therefore, finding a method that simplifies box placement while allowing drone formation displays to function properly became a pressing issue.

[0004] Through the above analysis, the problems and defects of the existing technology are as follows:

[0005] Regarding the problem described above, the direct reason for the difficulty in placing the boxes is that the dance steps for the drone formation performance are prepared in advance, so when placing the boxes, they need to be placed strictly according to the ground placement points in the dance steps. There must be no deviation, otherwise the aircraft will not be able to be numbered or the deviation from the waypoint is too large and will be refused to take off. Summary of the Invention

[0006] To overcome the problems existing in the related art, the embodiments disclosed in the present invention provide a method and system for stitching drone dance steps based on virtual placement. The technical solution is as follows:

[0007] A method for stitching drone dance steps based on virtual placement includes the following steps:

[0008] S1: Create semi-process dance steps and upload them to the ground station;

[0009] S2: Load the half-process dance steps at the ground station and obtain the first frame projection;

[0010] S3: Place the boxes on site and power on aircraft No. 1 and the first aircraft in the first and last boxes of each row;

[0011] S4: Generate virtual placement point information based on the position reported by the aircraft;

[0012] S5: The ground station generates takeoff and landing multi-layer arrays based on the virtual placement point information;

[0013] S6: The ground station will splice the takeoff and landing multi-layer formations and the intermediate half-process dance steps to complete the dance steps.

[0014] Furthermore, in step S1, the half-process dance step refers to the drone changing its formation in the air, the square path changes to the first picture, the middle performance picture and the last picture, and the path changes back to the square at the end of the last picture.

[0015] Furthermore, in step S2, the half-process dance steps are loaded into the ground station, and the first frame of the half-process dance steps is taken, that is, the square formation formed by the drones in the air;

[0016] Calculate the projection position of the aircraft in the X and Y directions at all current points when playing the first frame, and obtain its projection position information, which is defined as G_0. This projection position is the placement position of the aircraft when it is designed.

[0017] Furthermore, in step S3, when placing the boxes, it is necessary to first determine the placement position of plane No. 1, and then determine the position of the first box, and the remaining boxes are placed according to the projection position of G_0.

[0018] Furthermore, in the embodiment, it can also be considered that in step S4, the virtual placement point information algorithm is as follows:

[0019] Assume that the dimensions of the boxes are length a and width b, the cumulative gap between each row of boxes is Δ, and there are M boxes in each row;

[0020] The position information reported to the ground station by the first and last aircraft in the first row are P1(x1, y1) and P2(x2, y2) respectively;

[0021] Taking points P1 and P2 as vector v, we get the following formula:

[0022]

[0023] Then the cumulative gap spacing is calculated to be Δ, and the average value of each box is Δ / M;

[0024] The slope of vector V is (y2-y1) / (x2-x1);

[0025] The vector angle is θ = atan2(y2-y1, x2-x1);

[0026] According to the above formula, the position of the first plane of the second box is:

[0027] Pb ox 2 x=x1+(a+Δ / M)*cosθ

[0028] Pb ox2 y=y1+(a+Δ / M)*sinθ;

[0029] Similarly, the first plane position of boxes in other positions can be obtained in the same way;

[0030] After obtaining the position of the first aircraft in each box through the above formula, the positions of other aircraft in the same box are obtained by adding the cost of the design size to the position of the first aircraft.

[0031] After obtaining all the positions of the aircraft in the first row, the positions of the other rows are deduced accordingly, and the position information of the entire virtual arrangement of aircraft is obtained.

[0032] Furthermore, in step S5, the ground station digitally numbers the flight of each box according to the virtual placement point information; the aircraft with the same aircraft number for each box are placed on the same layer, thereby generating a multi-layer array for takeoff and landing.

[0033] Another object of the present invention is to provide a drone dance step splicing system based on virtual placement, which implements the drone dance step splicing method based on virtual placement, and the system includes:

[0034] Dance step synthesis module 1, used to generate semi-process dance steps and later splice and synthesize dance steps;

[0035] Projection processing module 2 is used for the ground station to load the semi-process dance steps generated by dance step generation module 1, and obtain the projection positions of the aircraft at all points in the X and Y directions in the first frame to obtain the projection position information;

[0036] The virtual point calculation module 3 is used to calculate the virtual placement points of all aircraft based on the projection position information obtained by the projection processing module 2;

[0037] The array generation processing module 4 is used to generate takeoff and landing multi-layer arrays based on the virtual placement point information obtained by the virtual point calculation module 3, and then return the obtained takeoff and landing multi-layer arrays to the dance step synthesis module 1 to splice them with the semi-process dance steps to synthesize the completed dance steps.

[0038] Furthermore, the drone dance step splicing system based on virtual placement is installed on a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, and the processor implements the functions of the above-mentioned method when executing the computer program.

[0039] Furthermore, the drone dance step splicing system based on virtual placement is installed on a server, and the server is used to provide a user input interface to implement the functions of the system as described above when executed on an electronic device.

[0040] Furthermore, a drone dance step splicing system based on virtual placement is installed on the formation drones.

[0041] In combination with all the above technical solutions, the beneficial effects of the present invention are as follows:

[0042] 1. Based on the power-on function of some aircraft, a virtual placement dance step splicing method is generated using the position of some aircraft points. The performance content in the middle of the dance step is decoupled from the position of the ground, solving the problem of not strictly placing the boxes;

[0043] 2. Reduced the difficulty and adjustment time of placing boxes during drone show operation preparation;

[0044] 3. The method of partially powering the aircraft greatly reduces the aircraft's power consumption during ground preparation, which buys more time for drone performances. From the perspective of operational efficiency and performance duration, it reduces costs and increases efficiency.

[0045] Compared with the prior art, the advantages of the present invention further include:

[0046] Based on the partially powered-on aircraft, virtual aircraft placement point information is generated; the performance content in the middle of the dance steps and the ground placement position are decoupled; the full-process dance steps are generated using the virtual placement position information; thus solving the problem of not having to strictly place the boxes and power on all aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure;

[0048] Figure 1 This is a flow chart of a drone dance step splicing method based on virtual placement provided by an embodiment of the present invention;

[0049] Figure 2 Schematic diagram of a drone dance step splicing system based on virtual placement provided by an embodiment of the present invention;

[0050] Figure 3 is a schematic diagram of a half-process dance step provided by an embodiment of the present invention;

[0051] Figure 4 2. It is a schematic diagram showing the effect of reporting aircraft position information to a ground station according to an embodiment of the present invention;

[0052] Figure 5 This is an example diagram of virtual placement calculation provided by an embodiment of the present invention;

[0053] Figure 6 Schematic diagram of the projection position of G_0 provided in an embodiment of the present invention;

[0054] In the picture:

[0055] 1-Dance step synthesis module; 2-Projection processing module; 3-Virtual point calculation module; 4-Matrix generation processing module. DETAILED DESCRIPTION

[0056] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0057] The following is combined with Figure 1 -Attached Figure 6 The present invention will be described in detail.

[0058] Example 1:

[0059] like Figure 1 As shown, a drone dance step splicing method based on virtual placement includes the following steps:

[0060] S1: Create semi-process dance steps and upload them to the ground station;

[0061] S2: Load the half-process dance steps at the ground station and obtain the first frame projection;

[0062] S3: Place the boxes on site and power on aircraft No. 1 and the first aircraft in the first and last boxes of each row;

[0063] S4: Generate virtual placement point information based on the position reported by the aircraft;

[0064] S5: The ground station generates takeoff and landing multi-layer arrays based on the virtual placement point information;

[0065] S6: The ground station will splice the takeoff and landing multi-layer formations and the intermediate half-process dance steps to complete the dance steps.

[0066] Working principle:

[0067] The drone dance step splicing method based on virtual placement of the present invention decouples the performance content in the middle of the dance steps from the position placed on the ground, and then splices the dance steps on the spot according to the point information of the aircraft at the actual box placement position. This can directly reduce the condition restrictions when placing the boxes and easily place the boxes.

[0068] At the same time, in the technical solution, some aircraft are powered on to confirm the virtual placement, rather than all aircraft being powered on, as described in step S3. In the prior art, after all aircraft are powered on, the aircraft itself enters a fixed mode. A series of operations such as the ground station splicing dance steps, issuing dance steps, and adjusting abnormal aircraft will consume some of the aircraft's electricity during ground preparation, thereby shortening the performance time. Therefore, the present invention allows some aircraft to be powered on first, and then the virtual placement position is generated through the algorithm of step S4, and a multi-layer square array is generated in step S5. Finally, the dance steps are spliced ​​in step S6, and the battery replacement operation can be performed on these aircraft later. This technical solution ensures both efficient and simple operation of the box and normal and safe performance time of the aircraft.

[0069] Furthermore, in the embodiment, it can also be considered that in step S1, the half-process dance step refers to the drone changing its formation in the air, and the square path changes to the first picture, the middle performance picture and the last picture, and the path changes back to the square at the end of the last picture.

[0070] In this embodiment, the full-process dance steps refer to the entire dance process from layered takeoff from the ground, square path changes to the first picture, middle performance picture, last picture path changes to the landing square, and the aircraft landing on the ground.

[0071] The semi-process dance steps are based on the full-process dance steps, but with the take-off and landing steps removed. Therefore, it starts from the aerial transformation and finally combines the semi-process dance steps with the take-off and landing multi-layer arrays in step S5 to complete the drone dance steps.

[0072] like Figure 3 As shown in the figure, the semi-process dance steps cover the path change from the square array to the first picture, the middle performance picture, and the path change from the last picture to the square array. Then create the semi-process dance steps and upload them to the ground station.

[0073] Furthermore, in the embodiment, it can also be considered that in step S2, the half-process dance steps are loaded in the ground station, and the first frame of the half-process dance steps is taken, that is, the square formation formed by the drones in the air;

[0074] Calculate the projection position of the aircraft in the X and Y directions at all current points when playing the first frame, and obtain its projection position information, which is defined as G_0. This projection position is the placement position of the aircraft when it is designed.

[0075] In this embodiment, Figure 6 As shown, we can see that the projection position of G_0 is taken from the square array formed in the air.

[0076] Furthermore, in the embodiment, it can be considered that in step S3, when placing the boxes, it is necessary to first determine the placement position of plane No. 1, and then determine the position of the first box, and the remaining boxes are placed according to the projection position of G_0.

[0077] In this embodiment, a random position is first selected on the ground and is determined as the position of aircraft No. 1. Based on this position, the placement of other boxes is determined in sequence.

[0078] Furthermore, in the embodiment, it can also be considered that in step S4, the algorithm for the virtual placement point information is as follows:

[0079] Assume that the dimensions of the boxes are length a and width b, the cumulative gap between each row of boxes is Δ, and there are M boxes in each row;

[0080] The position information reported to the ground station by the first and last aircraft in the first row are P1(x1, y1) and P2(x2, y2) respectively;

[0081] Taking points P1 and P2 as vector v, we get the following formula:

[0082]

[0083] Then the cumulative gap spacing is calculated to be Δ, and the average value of each box is Δ / M;

[0084] The slope of vector V is (y2-y1) / (x2-x1);

[0085] The vector angle is θ = atan2(y2-y1, x2-x1);

[0086] According to the above formula, the position of the first plane of the second box is:

[0087] Pb ox 2 x=x1+(a+Δ / M)*cosθ

[0088] Pb ox 2 y=y1+(a+Δ / M)*sinθ;

[0089] Similarly, the first plane position of boxes in other positions can be obtained in the same way;

[0090] After obtaining the position of the first aircraft in each box through the above formula, the positions of other aircraft in the same box are obtained by adding the cost of the design size to the position of the first aircraft.

[0091] After obtaining all the positions of the aircraft in the first row, the positions of the other rows are deduced accordingly, and the position information of the entire virtual arrangement of aircraft is obtained.

[0092] In this embodiment, refer to Figure 4 As shown, assuming there are 6 boxes in each row, then according to the formula we can get:

[0093]

[0094] Then the cumulative gap spacing is calculated to be Δ, and the average value of each box is Δ / 6;

[0095] The slope of vector v is (y2-y1) / (x2-x1); the angle between the vectors is θ=atan2(y2-y1, x2-x1);

[0096] Then we can get the position of the first plane in the second box:

[0097] Pb ox 2 x=x1+(a+Δ / 6)*cosθ

[0098] Pb ox 2 y=y1+(a+Δ / 6)*sinθ;

[0099] Similarly, the first plane position of boxes in other positions can be obtained accordingly.

[0100] Now we have the position of the first aircraft in each box. Because the aircraft are placed inside the box according to the designed pit in the box, we can place them according to the designed size, such as Figure 5 As shown, by adding the cost of the design size to the position of the first aircraft, the positions of other aircraft in the same box can be obtained.

[0101] Furthermore, in the embodiment, it can also be considered that in step S5, the ground station digitally numbers the flight of each box according to the virtual placement point information; the aircraft with the same aircraft number for each box are placed on the same layer, thereby generating a multi-layer array for takeoff and landing.

[0102] In this embodiment, the ground station numbers the flights in each box from 1 to 12 based on the virtual placement point information. Assuming that there are 12 aircraft in a box, the aircraft with the same aircraft number in each box are placed on the same layer, thereby generating a multi-layer array for takeoff and landing.

[0103] Example 2:

[0104] like Figure 2 As shown, a drone dance step splicing system based on virtual placement implements the drone dance step splicing method based on virtual placement, and the system includes:

[0105] Dance step synthesis module 1, used to generate semi-process dance steps and later splice and synthesize dance steps;

[0106] Projection processing module 2 is used for the ground station to load the semi-process dance steps generated by dance step generation module 1, and obtain the projection positions of the aircraft at all points in the X and Y directions in the first frame to obtain the projection position information;

[0107] The virtual point calculation module 3 is used to calculate the virtual placement points of all aircraft based on the projection position information obtained by the projection processing module 2;

[0108] The array generation processing module 4 is used to generate takeoff and landing multi-layer arrays based on the virtual placement point information obtained by the virtual point calculation module 3, and then return the obtained takeoff and landing multi-layer arrays to the dance step synthesis module 1 to splice them with the semi-process dance steps to synthesize the completed dance steps.

[0109] Working principle:

[0110] The dance step synthesis module 1 generates half-process dance steps. The projection processing module 2 and the virtual point calculation module 3 cooperate with each other according to the drone dance step splicing method based on virtual placement to obtain the virtual placement points of all aircraft. The subsequent array generation processing module 4 generates take-off and landing multi-layer arrays through the virtual point placement information, and then returns it to the dance step synthesis module 1. The half-process dance steps are synthesized into the final drone dance steps.

[0111] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0112] The information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the embodiment of the method of the present invention. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment.

[0114] An embodiment of the present invention also provides a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the computer program.

[0115] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0116] An embodiment of the present invention also provides an information data processing terminal, which is used to provide a user input interface to implement the steps in the above-mentioned method embodiments when executed on an electronic device. The information data processing terminal is not limited to mobile phones, computers, and switches.

[0117] An embodiment of the present invention further provides a server, which is used to provide a user input interface to implement the steps in the above method embodiments when executed on an electronic device.

[0118] An embodiment of the present invention provides a computer program product. When the computer program product is run on an electronic device, the electronic device can implement the steps of the above-mentioned method embodiments when executing the computer program product.

[0119] 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 present application implements all or part of the processes in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0120] The above description is only a preferred specific implementation method of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with this technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A drone dance step splicing method based on virtual placement, characterized in that: The following steps are involved: S1: Create semi-process dance steps and upload them to the ground station; S2: Load the half-process dance steps at the ground station and obtain the first frame projection; S3: Place the boxes on site and power on aircraft No. 1 and the first aircraft in the first and last boxes of each row; S4: Generate virtual placement point information based on the position reported by the aircraft; S5: The ground station generates takeoff and landing multi-layer arrays based on the virtual placement point information; S6: The ground station will splice the takeoff and landing multi-layer formations and the intermediate half-process dance steps to complete the dance steps.

2. The drone dance step splicing method based on virtual placement according to claim 1 is characterized in that: In step S1, the half-process dance step refers to the drones changing their formation in the air, with the square path changing to the first picture, the middle performance picture and the last picture, and the path changing back to the square at the end of the last picture.

3. The drone dance step splicing method based on virtual placement according to claim 1 is characterized in that: In step S2, the half-process dance steps are loaded into the ground station, and the first frame of the half-process dance steps is taken, that is, the square formation formed by the drones in the air; Calculate the projection position of the aircraft in the X and Y directions at all current points when playing the first frame, and obtain its projection position information, which is defined as G_0. This projection position is the placement position of the aircraft when it is designed.

4. The drone dance step splicing method based on virtual placement according to claim 1 is characterized in that: In step S3, when placing the boxes, it is necessary to first determine the placement position of plane No. 1, and then determine the position of the first box. The remaining boxes are placed according to the projection position of G_0.

5. The drone dance step splicing method based on virtual placement according to claim 1 is characterized in that: In step S4, the algorithm for generating virtual placement point information is as follows: Assume that the dimensions of the boxes are length a and width b, the cumulative gap between each row of boxes is Δ, and there are M boxes in each row; The position information reported to the ground station by the first and last aircraft in the first row are P1(x1, y1) and P2(x2, y2) respectively; Taking points P1 and P2 as vector v, we get the following formula: Then the cumulative gap spacing is calculated to be Δ, and the average value of each box is Δ / M; The slope of vector V is (y2-y1) / (x2-x1); The vector angle is θ = atan2(y2-y1, x2-x1); According to the above formula, the position of the first plane of the second box is: Pb ox 2x=x1+(a+Δ / M)*cosθ Pb ox 2y=y1+(a+Δ / M)*sinθ; Similarly, the first plane position of boxes in other positions can be obtained in the same way; After obtaining the position of the first aircraft in each box through the above formula, the positions of other aircraft in the same box are obtained by adding the cost of the design size to the position of the first aircraft. After obtaining all the positions of the aircraft in the first row, the positions of the other rows are deduced accordingly, and the position information of the entire virtual arrangement of aircraft is obtained.

6. The drone dance step splicing method based on virtual placement according to claim 1 is characterized in that: In step S5, the ground station digitally numbers the flight of each box according to the virtual placement point information; the aircraft with the same aircraft number for each box are placed on the same layer, thereby generating a multi-layer array for takeoff and landing.

7. A drone dance step splicing system based on virtual placement, characterized in that: The system implements the drone dance step splicing method based on virtual placement as described in any one of claims 1 to 6, and the system includes: A dance step synthesis module (1) is used to generate semi-process dance steps and later splice and synthesize dance steps; The projection processing module (2) is used for the ground station to load the semi-process dance steps generated by the dance step generation module (1), and obtain the projection positions of the aircraft at all points in the X and Y directions in the first frame to obtain projection position information; A virtual point calculation module (3) is used to calculate the virtual placement points of all aircraft based on the projection position information obtained by the projection processing module (2); The array generation processing module (4) is used to generate take-off and landing multi-layer arrays based on the virtual placement point information obtained by the virtual point calculation module (3), and then return the obtained take-off and landing multi-layer arrays to the dance step synthesis module (1) to be spliced ​​with the semi-process dance steps to synthesize the completed dance steps.

8. The drone dance step splicing system based on virtual placement according to claim 7 is characterized in that: The system is mounted on a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor. When the processor executes the computer program, the functions of the above-mentioned method are realized.

9. The method and system for assembling drone dance steps based on virtual placement according to claim 7, characterized in that: The system is mounted on a server, and when the server is executed on an electronic device, it provides a user input interface to implement the functions of the system as described above.

10. The drone dance step splicing system based on virtual placement according to claim 7 is characterized in that: The system is carried on formation drones.

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