CN108181927A - Unmanned plane, which is formed into columns, performs the method, apparatus and storage medium of control - Google Patents
Unmanned plane, which is formed into columns, performs the method, apparatus and storage medium of control Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention, which discloses a kind of unmanned plane and forms into columns, performs the method, apparatus and storage medium of control, belongs to unmanned plane Formation Technology field, this method includes the following steps：Way point information setting is carried out to each unmanned plane for participating in formation performance, the way point information includes three dimensional local information and timing node information；According to the way point information, corresponding each unmanned plane is controlled to reach corresponding position in each timing node, complete the performance of forming into columns.The unmanned plane of the present invention, which is formed into columns, performs the method, apparatus and storage medium of control, it is on the basis of the control of original three dimensional local information, increase the control of timing node information, form four-dimensional destination control, to be precisely controlled the flight course of each unmanned plane during unmanned plane formation is performed, so as to meet the needs of more complicated performance task.
Description
Technical field
It forms into columns the present invention relates to unmanned plane Formation Technology field more particularly to a kind of unmanned plane and performs the method for control, fills
It puts and storage medium.
Background technology
At present, unmanned plane provides a kind of new side with that can show that the lamp plate of multicolour is combined into unmanned plane performance
Formula, some manufacturers have begun to attempt to carry out formation performance using the unmanned plane of more carrying lamp plates.However, existing unmanned plane
It forms into columns during performance, the way point information of flight control is carried out to each unmanned plane and only includes three dimensional local information, such one
Come, only corresponding each unmanned plane can be controlled to have flown corresponding flight path according to the way point information, i.e., it only can ensure that whole
The flight course of body smoothly completes, and control not during entire performance each timing node flight course, thus, can not
Meets the needs of more complicated performance task.
Invention content
It is a primary object of the present invention to propose that a kind of unmanned plane is formed into columns to perform the method, apparatus and storage medium of control,
It is intended on the basis of original three dimensional local information control, increases the control of timing node information, four-dimensional destination control is formed, with essence
The flight course of each unmanned plane during quasi- control unmanned plane formation performance, so as to meet the needs of more complicated performance task.
To achieve the above object, a kind of unmanned plane provided by the invention, which is formed into columns, performs the method for control, the method includes
Following steps：Way point information setting is carried out to each unmanned plane for participating in formation performance, the way point information includes three-dimensional position
Information and timing node information；According to the way point information, corresponding each unmanned plane is controlled to be arrived in each timing node
Up to corresponding position, the performance of forming into columns is completed.
Optionally, the described pair of each unmanned plane progress way point information setting performed that participates in forming into columns, the way point information packet
The step of including three dimensional local information and timing node information specifically includes：According to the actual needs of the performance of forming into columns, set
The total duration for forming into columns performance is divided into some time node by the interval duration between timing node two-by-two.
Optionally, the described pair of each unmanned plane progress way point information setting performed that participates in forming into columns, the way point information packet
The step of including three dimensional local information and timing node information specifically further includes：According to the flight path of the performance of forming into columns, know
The position reached needed for each each unmanned plane of the timing node, described in being carried out to corresponding each unmanned plane
Way point information is set.
Optionally, it is described according to the way point information, corresponding each unmanned plane is controlled to be arrived in each timing node
Up to corresponding position, complete unmanned plane form into columns performance the step of specifically include：Calculate the current time of each unmanned plane
Time difference between node and future time node；Calculate the current time node position of each unmanned plane with it is next
Path length difference between in-position needed for timing node；According to the time difference and the path length difference, corresponding each institute is adjusted
The flying speed of unmanned plane is stated, corresponding each unmanned plane to be controlled to reach corresponding position in future time node.
Optionally, the way point information further includes light transformation information.
Optionally, the light transformation information includes lamplight brightness information converting and light color information converting.
Optionally, it is described according to the way point information, corresponding each unmanned plane is controlled to be arrived in each timing node
Up to corresponding position, completion the step of the performing of forming into columns further includes：According to the way point information, corresponding each institute is controlled
It states unmanned plane and carries out corresponding light transformation in each timing node.
Optionally, each unmanned plane obtains the Perfect Time information stored on server by 4G network communications, real
The accurate unification of current sequence.
In addition, to achieve the above object, the present invention also proposes that a kind of unmanned plane is formed into columns and performs the device of control, described device
Including memory, processor, the program that is stored on the memory and can run on the processor and it is used to implement
The data/address bus of connection communication between the processor and the memory, described program are realized when being performed by the processor
The step of above-mentioned method.
In addition, to achieve the above object, the present invention also proposes a kind of storage medium, described for computer-readable storage
Storage medium is stored with one or more program, and one or more of programs can be held by one or more processor
Row, the step of to realize above-mentioned method.
A kind of unmanned plane proposed by the present invention, which is formed into columns, performs the method, apparatus and storage medium of control, by participating in
The each unmanned plane performed of forming into columns carries out the way point information setting including three dimensional local information and timing node information, in this way
One, it can be by the control of newly-increased timing node information, to participating in performance of forming into columns during unmanned plane forms into columns performance
When each unmanned plane is controlled, according to the way point information, it is precisely controlled corresponding each unmanned plane and is arrived in each timing node
Up to corresponding position.Thus, it can be ensured that each unmanned plane the performed accurately corresponding performance task of completion of forming into columns is participated in, with completely
The demand of the more complicated performance task of foot.The method, apparatus and storage medium of performance control as it can be seen that the unmanned plane of the present invention is formed into columns,
It increases the control of timing node information on the basis of the control of original three dimensional local information, four-dimensional destination control is formed, with essence
The flight course of each unmanned plane during quasi- control unmanned plane formation performance, so as to meet the needs of more complicated performance task.
Description of the drawings
Fig. 1 is the flow diagram of the method for one unmanned plane of embodiment of the present invention formation performance control.
Fig. 2 is the idiographic flow block diagram of the method and step S110 of the formation performance control of unmanned plane shown in Fig. 1.
Fig. 3 is the idiographic flow block diagram of the method and step S120 of the formation performance control of unmanned plane shown in Fig. 1.
Fig. 4 is the structure diagram of the device of two unmanned plane of embodiment of the present invention formation performance control.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, using for representing that the suffix of such as " module ", " component " or " unit " of element is only
Be conducive to the explanation of the present invention, itself there is no a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
Embodiment one
As shown in Figure 1, the embodiment of the present invention one proposes that a kind of unmanned plane is formed into columns the method for performance control, this method include with
Lower step：
Step S110：Way point information setting is carried out to each unmanned plane for participating in formation performance, which includes three
Tie up location information and timing node information.
Specifically, unmanned plane is formed into columns to perform and exactly be matched by the way that multiple UAVs is controlled to carry out various flights within a certain period of time
It closes, is combined into various performance patterns, is completed to perform accordingly.It therefore, need to be to participating in compiling before unmanned plane forms into columns performance
Each unmanned plane of team's performance carries out way point information setting, to confirm aerial mission of the good each unmanned plane in performance process.This
Way point information in embodiment not only includes three dimensional local information, the three dimensional local information include longitude information, latitude information with
And altitude info ination.Also it can include timing node information.I.e. in the present embodiment, will can participate in forming into columns each nothing performed
It is man-machine performance process aerial mission duration is divided into some time node at certain intervals, two-by-two between timing node between
It equal can be set every duration, the actual needs that can be also performed according to the formation, using unequal interval duration setting, with correspondence
Complete different flight subtasks.So, each timing node can correspond to a three dimensional local information, represent the unmanned plane
Corresponding position need to be flown in the timing node.Thus, as shown in Fig. 2, being carried out to each unmanned plane for participating in formation performance
Way point information is set, and step can specifically be realized by the following method：
Step S111：According to the actual needs that the formation is performed, the interval duration between timing node two-by-two is set, with
The total duration that the formation is performed is divided into some time node.
Step S112：According to the flight path that the formation is performed, know and reached needed for each unmanned plane of each timing node
Position, to carry out way point information setting to corresponding each unmanned plane.
In addition, in order to enrich the demonstration event of unmanned plane, carried on the existing each unmanned plane for participating in formation performance
Highlighted lamp plate accordingly, to pass through the cooperation of light transformation so that unmanned plane formation performance is more excellent, thus, the present embodiment
In way point information may also include light transformation information, the light transformation information specifically may include lamplight brightness information converting and
Light color information converting.So, each timing node can not only correspond to a three dimensional local information, can also correspond to one
Light transformation information represents that the highlighted lamp plate that the unmanned plane carries need to carry out corresponding light transformation in the timing node.Thus,
The cooperation that way point information in this implementation passes through light transformation information and timing node information so that the variation of light is also because have
Accurately time parameter and it is more accurate, can complete such as gradual change, timing horse race lamp complexity variation task.
Step S120：According to the way point information, corresponding each unmanned plane is controlled corresponding to the arrival of each timing node
Position, complete form into columns performance.
Specifically, when before unmanned plane forms into columns performance, each unmanned plane performed participating in formation is navigated accordingly
After point information setting, according to the way point information, corresponding each unmanned plane can be controlled to exist during unmanned plane forms into columns performance
Each timing node reaches corresponding position, completes performance of forming into columns.As shown in Fig. 2, entirely control process is specific as follows：
Step S121：Calculate the time difference between the current time node of each unmanned plane and future time node.
Step S122：It calculates and reaches position needed for the current time node position of each unmanned plane and future time node
Path length difference between putting.
Step S123：According to the time difference and the path length difference, the flying speed of corresponding each unmanned plane is adjusted, with control
Corresponding each unmanned plane reaches corresponding position in future time node.
So, aerial mission quantization of each unmanned plane of formation performance during performance can will be participated in arrive
Each timing node, it is ensured that each unmanned plane can reach corresponding position in each timing node, complete corresponding performance
Task, and then accurately complete performance of entirely forming into columns.Even if during performance of forming into columns, for some reason, a certain unmanned plane exists
Sometime node can not the corresponding position of reaching on the time, also can the nothing be adjusted by the amendment of above-mentioned time difference and path length difference
Man-machine flying speed, it is ensured that the position that the unmanned plane can be corresponding to reaching on the time in future time node, and then reduce to whole
The influence of a performance of forming into columns.
In addition, since above-mentioned way point information may also include light transformation information, thus, this method step may also include：Root
According to the way point information, corresponding each unmanned plane is controlled to carry out corresponding light transformation in each timing node.So, when
Each unmanned plane also needs to carry out corresponding light variation so that nothing while each timing node reaches corresponding position
The project of man-machine formation performance becomes more rich and varied.
In addition, in this embodiment, each unmanned plane for participating in formation performance is equipped with 4G communications modules, and formation was performed
Cheng Zhong, each unmanned plane can obtain the Perfect Time information stored on server by 4G network communications, to realize the essence of sequential
It is really unified, it is ensured that during forming into columns and performing, the time on each unmanned plane is unified, there is no any time difference, further
Improve the control accuracy of unmanned plane formation performance.
Embodiment two
As shown in figure 4, the embodiment of the present invention two, which proposes that a kind of unmanned plane is formed into columns, performs the device 20 of control, which wraps
It includes memory 21, processor 22, the program that is stored on the memory and can run on the processor and is used to implement place
The data/address bus 23 of the connection communication between device 21 and memory 22 is managed, it is following to realize when which is performed by the processor
Specific steps as shown in Figure 3：
Step S110：Way point information setting is carried out to each unmanned plane for participating in formation performance, which includes three
Tie up location information and timing node information.
Specifically, unmanned plane is formed into columns to perform and exactly be matched by the way that multiple UAVs is controlled to carry out various flights within a certain period of time
It closes, is combined into various performance patterns, is completed to perform accordingly.It therefore, need to be to participating in compiling before unmanned plane forms into columns performance
Each unmanned plane of team's performance carries out way point information setting, to confirm aerial mission of the good each unmanned plane in performance process.This
Way point information in embodiment not only includes three dimensional local information, the three dimensional local information include longitude information, latitude information with
And altitude info ination.Also it can include timing node information.I.e. in the present embodiment, will can participate in forming into columns each nothing performed
It is man-machine performance process aerial mission duration is divided into some time node at certain intervals, two-by-two between timing node between
It equal can be set every duration, the actual needs that can be also performed according to the formation, using unequal interval duration setting, with correspondence
Complete different flight subtasks.So, each timing node can correspond to a three dimensional local information, represent the unmanned plane
Corresponding position need to be flown in the timing node.Thus, as shown in Fig. 2, being carried out to each unmanned plane for participating in formation performance
Way point information is set, and step can specifically be realized by the following method：
Step S111：According to the actual needs that the formation is performed, the interval duration between timing node two-by-two is set, with
The total duration that the formation is performed is divided into some time node.
Step S112：According to the flight path that the formation is performed, know and reached needed for each unmanned plane of each timing node
Position, to carry out way point information setting to corresponding each unmanned plane.
In addition, in order to enrich the demonstration event of unmanned plane, carried on the existing each unmanned plane for participating in formation performance
Highlighted lamp plate accordingly, to pass through the cooperation of light transformation so that unmanned plane formation performance is more excellent, thus, the present embodiment
In way point information may also include light transformation information, the light transformation information specifically may include lamplight brightness information converting and
Light color information converting.So, each timing node can not only correspond to a three dimensional local information, can also correspond to one
Light transformation information represents that the highlighted lamp plate that the unmanned plane carries need to carry out corresponding light transformation in the timing node.Thus,
The cooperation that way point information in this implementation passes through light transformation information and timing node information so that the variation of light is also because have
Accurately time parameter and it is more accurate, can complete such as gradual change, timing horse race lamp complexity variation task.
Step S120：According to the way point information, corresponding each unmanned plane is controlled corresponding to the arrival of each timing node
Position, complete form into columns performance.
Specifically, when before unmanned plane forms into columns performance, each unmanned plane performed participating in formation is navigated accordingly
After point information setting, according to the way point information, corresponding each unmanned plane can be controlled to exist during unmanned plane forms into columns performance
Each timing node reaches corresponding position, completes performance of forming into columns.As shown in Fig. 2, entirely control process is specific as follows：
Step S121：Calculate the time difference between the current time node of each unmanned plane and future time node.
Step S122：It calculates and reaches position needed for the current time node position of each unmanned plane and future time node
Path length difference between putting.
Step S123：According to the time difference and the path length difference, the flying speed of corresponding each unmanned plane is adjusted, with control
Corresponding each unmanned plane reaches corresponding position in future time node.
So, aerial mission quantization of each unmanned plane of formation performance during performance can will be participated in arrive
Each timing node, it is ensured that each unmanned plane can reach corresponding position in each timing node, complete corresponding performance
Task, and then accurately complete performance of entirely forming into columns.Even if during performance of forming into columns, for some reason, a certain unmanned plane exists
Sometime node can not the corresponding position of reaching on the time, also can the nothing be adjusted by the amendment of above-mentioned time difference and path length difference
Man-machine flying speed, it is ensured that the position that the unmanned plane can be corresponding to reaching on the time in future time node, and then reduce to whole
The influence of a performance of forming into columns.
In addition, since above-mentioned way point information may also include light transformation information, thus, this method step may also include：Root
According to the way point information, corresponding each unmanned plane is controlled to carry out corresponding light transformation in each timing node.So, when
Each unmanned plane also needs to carry out corresponding light variation so that nothing while each timing node reaches corresponding position
The project of man-machine formation performance becomes more rich and varied.
In addition, in this embodiment, each unmanned plane for participating in formation performance is equipped with 4G communications modules, and formation was performed
Cheng Zhong, each unmanned plane can obtain the Perfect Time information stored on server by 4G network communications, to realize the essence of sequential
It is really unified, it is ensured that during forming into columns and performing, the time on each unmanned plane is unified, there is no any time difference, further
Improve the control accuracy of unmanned plane formation performance.
Embodiment three
The embodiment of the present invention three proposes a kind of storage medium, and for computer-readable storage, which is stored with one
A or multiple programs, one or more program can be performed by one or more processor, following such as Fig. 1 institutes to realize
The specific steps shown：
Step S110：Way point information setting is carried out to each unmanned plane for participating in formation performance, which includes three
Tie up location information and timing node information.
Specifically, unmanned plane is formed into columns to perform and exactly be matched by the way that multiple UAVs is controlled to carry out various flights within a certain period of time
It closes, is combined into various performance patterns, is completed to perform accordingly.It therefore, need to be to participating in compiling before unmanned plane forms into columns performance
Each unmanned plane of team's performance carries out way point information setting, to confirm aerial mission of the good each unmanned plane in performance process.This
Way point information in embodiment not only includes three dimensional local information, the three dimensional local information include longitude information, latitude information with
And altitude info ination.Also it can include timing node information.I.e. in the present embodiment, will can participate in forming into columns each nothing performed
It is man-machine performance process aerial mission duration is divided into some time node at certain intervals, two-by-two between timing node between
It equal can be set every duration, the actual needs that can be also performed according to the formation, using unequal interval duration setting, with correspondence
Complete different flight subtasks.So, each timing node can correspond to a three dimensional local information, represent the unmanned plane
Corresponding position need to be flown in the timing node.Thus, as shown in Fig. 2, being carried out to each unmanned plane for participating in formation performance
Way point information is set, and step can specifically be realized by the following method：
Step S111：According to the actual needs that the formation is performed, the interval duration between timing node two-by-two is set, with
The total duration that the formation is performed is divided into some time node.
Step S112：According to the flight path that the formation is performed, know and reached needed for each unmanned plane of each timing node
Position, to carry out way point information setting to corresponding each unmanned plane.
In addition, in order to enrich the demonstration event of unmanned plane, carried on the existing each unmanned plane for participating in formation performance
Highlighted lamp plate accordingly, to pass through the cooperation of light transformation so that unmanned plane formation performance is more excellent, thus, the present embodiment
In way point information may also include light transformation information, the light transformation information specifically may include lamplight brightness information converting and
Light color information converting.So, each timing node can not only correspond to a three dimensional local information, can also correspond to one
Light transformation information represents that the highlighted lamp plate that the unmanned plane carries need to carry out corresponding light transformation in the timing node.Thus,
The cooperation that way point information in this implementation passes through light transformation information and timing node information so that the variation of light is also because have
Accurately time parameter and it is more accurate, can complete such as gradual change, timing horse race lamp complexity variation task.
Step S120：According to the way point information, corresponding each unmanned plane is controlled corresponding to the arrival of each timing node
Position, complete form into columns performance.
Specifically, when before unmanned plane forms into columns performance, each unmanned plane performed participating in formation is navigated accordingly
After point information setting, according to the way point information, corresponding each unmanned plane can be controlled to exist during unmanned plane forms into columns performance
Each timing node reaches corresponding position, completes performance of forming into columns.As shown in Fig. 2, entirely control process is specific as follows：
Step S121：Calculate the time difference between the current time node of each unmanned plane and future time node.
Step S122：It calculates and reaches position needed for the current time node position of each unmanned plane and future time node
Path length difference between putting.
Step S123：According to the time difference and the path length difference, the flying speed of corresponding each unmanned plane is adjusted, with control
Corresponding each unmanned plane reaches corresponding position in future time node.
So, aerial mission quantization of each unmanned plane of formation performance during performance can will be participated in arrive
Each timing node, it is ensured that each unmanned plane can reach corresponding position in each timing node, complete corresponding performance
Task, and then accurately complete performance of entirely forming into columns.Even if during performance of forming into columns, for some reason, a certain unmanned plane exists
Sometime node can not the corresponding position of reaching on the time, also can the nothing be adjusted by the amendment of above-mentioned time difference and path length difference
Man-machine flying speed, it is ensured that the position that the unmanned plane can be corresponding to reaching on the time in future time node, and then reduce to whole
The influence of a performance of forming into columns.
In addition, since above-mentioned way point information may also include light transformation information, thus, this method step may also include：Root
According to the way point information, corresponding each unmanned plane is controlled to carry out corresponding light transformation in each timing node.So, when
Each unmanned plane also needs to carry out corresponding light variation so that nothing while each timing node reaches corresponding position
The project of man-machine formation performance becomes more rich and varied.
In addition, in this embodiment, each unmanned plane for participating in formation performance is equipped with 4G communications modules, and formation was performed
Cheng Zhong, each unmanned plane can obtain the Perfect Time information stored on server by 4G network communications, to realize the essence of sequential
It is really unified, it is ensured that during forming into columns and performing, the time on each unmanned plane is unified, there is no any time difference, further
Improve the control accuracy of unmanned plane formation performance.
A kind of unmanned plane that the embodiment of the present invention proposes, which is formed into columns, performs the method, apparatus and storage medium of control, passes through
The way point information carried out including three dimensional local information and timing node information to each unmanned plane for participating in formation performance is set
It puts, it so, can be by the control of newly-increased timing node information, to participating in forming into columns during unmanned plane forms into columns performance
When each unmanned plane of performance is controlled, according to the way point information, corresponding each unmanned plane is precisely controlled in each time
Node reaches corresponding position.Thus, it can be ensured that participate in each unmanned plane the performed accurately corresponding performance times of completion of forming into columns
Business, to meet the needs of more complicated performance task.The method, apparatus and deposit that performance controls as it can be seen that the unmanned plane of the present invention is formed into columns
Storage media on the basis of the control of original three dimensional local information, increases the control of timing node information, forms four-dimensional destination control
System, to be precisely controlled the flight course of each unmanned plane during unmanned plane formation is performed, so as to meet more complicated performance task
Demand.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or device institute
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in a storage medium (such as
ROM/RAM, magnetic disc, CD) in, it is used including some instructions so that a station terminal equipment (can be mobile phone, computer services
Device, air conditioner or network equipment etc.) perform method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
- A kind of method of performance control 1. unmanned plane is formed into columns, which is characterized in that the described method comprises the following steps：To participate in form into columns performance each unmanned plane carry out way point information setting, the way point information include three dimensional local information and Timing node information；According to the way point information, corresponding each unmanned plane is controlled to reach corresponding position in each timing node, Complete the performance of forming into columns.
- 2. according to the method described in claim 1, it is characterized in that, the described pair of each unmanned plane for participating in formation performance navigates The step of point information setting, the way point information includes three dimensional local information and timing node information, specifically includes：According to the actual needs of the performance of forming into columns, the interval duration between timing node two-by-two is set, by the formation The total duration of performance is divided into some time node.
- 3. according to the method described in claim 2, it is characterized in that, the described pair of each unmanned plane for participating in formation performance navigates The step of point information setting, the way point information includes three dimensional local information and timing node information, specifically further includes：According to the flight path of the performance of forming into columns, the position reached needed for each unmanned plane of each timing node is known It puts, to carry out the way point information setting to corresponding each unmanned plane.
- 4. the method as described in claim 1, which is characterized in that it is described according to the way point information, control corresponding each institute The step of stating unmanned plane and corresponding position is reached in each timing node, completing unmanned plane formation performance specifically includes：Calculate the time difference between the current time node of each unmanned plane and future time node；It calculates between in-position needed for the current time node position of each unmanned plane and future time node Path length difference；According to the time difference and the path length difference, the flying speed of corresponding each unmanned plane is adjusted, it is corresponding to control Each unmanned plane corresponding position is reached in future time node.
- 5. the method as described in claim 1, which is characterized in that the way point information further includes light transformation information.
- 6. method as claimed in claim 5, which is characterized in that the light transformation information include lamplight brightness information converting and Light color information converting.
- 7. method as claimed in claim 5, which is characterized in that it is described according to the way point information, control corresponding each institute The step of stating unmanned plane and corresponding position is reached in each timing node, completing the formation performance further includes：According to the way point information, corresponding each unmanned plane is controlled to carry out corresponding light change in each timing node It changes.
- 8. the method as described in claim 1, which is characterized in that each unmanned plane obtains server by 4G network communications The Perfect Time information of upper storage realizes the accurate unification of sequential.
- The device of performance control 9. a kind of unmanned plane is formed into columns, which is characterized in that described device includes memory, processor, storage On the memory and the program that can run on the processor and it is used to implement the processor and the memory Between connection communication data/address bus, when described program is performed by the processor realize as described in claim 1-8 is any Method the step of.
- 10. a kind of storage medium, for computer-readable storage, which is characterized in that storage medium storage there are one or Multiple programs, one or more of programs can be performed by one or more processor, to realize that claim 1-8 such as appoints The step of method described in one.
Priority Applications (1)
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| CN109284804A (en) * | 2018-11-21 | 2019-01-29 | 深圳市高巨创新科技开发有限公司 | Two dimensional code methods of exhibiting and terminal |
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| CN110687921A (en) * | 2019-10-30 | 2020-01-14 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle flight control method and device, electronic equipment and storage medium |
| CN111123978A (en) * | 2019-12-26 | 2020-05-08 | 一飞智控(天津)科技有限公司 | Position-based cluster unmanned aerial vehicle automatic numbering processing system and method, and unmanned aerial vehicle |
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| CN111290430A (en) * | 2020-02-17 | 2020-06-16 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation dance step uploading transmission control system and method and intelligent terminal |
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