CN111309047B - Control method, device and equipment of unmanned aerial vehicle and storage medium - Google Patents
Control method, device and equipment of unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The utility model provides a control method, a device, equipment and storage medium of unmanned aerial vehicle, in this scheme, electronic equipment or unmanned aerial vehicle for controlling unmanned aerial vehicle obtain unmanned aerial vehicle's course information and course information at first, course information and course information are according to target pattern and the shape and the size of the light source that sets up on the unmanned aerial vehicle confirm, and the light source that sets up on this unmanned aerial vehicle can be the line light source, cyclic annular light source, square light source, any kind in triangle-shaped light source and the special-shaped light source etc. then according to course information and course information control unmanned aerial vehicle flight. In the scheme, an unmanned aerial vehicle does not represent pixel points any more, but can represent lines or certain patterns, fewer unmanned aerial vehicles can be used for realizing target patterns by controlling the air route and the course of the unmanned aerial vehicle, and the target patterns realized by the light source have better effect.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a control method, a control device, control equipment and a storage medium for an unmanned aerial vehicle.
Background
Unmanned Aircraft (Pilotless Aircraft), colloquially known as: unmanned aerial vehicle, unmanned aerial vehicle etc. do not have the cockpit on the unmanned aerial vehicle, but install equipment such as autopilot, program control device, can control unmanned aerial vehicle's flight and task. With the development and maturity of unmanned aerial vehicle technology, unmanned aerial vehicles are also widely used in mass life, for example: can carry out the formation performance to unmanned aerial vehicle, realize various types of performance effect in the air.
In the prior art, unmanned aerial vehicle formation light performance is all with a formation aircraft as a unit, there is a lamp on every formation unmanned aerial vehicle, fly in the air and be a bright spot behind every formation aircraft light, every bright spot is just a component pixel in the formation performance pattern, regardless of formation aircraft size, every unmanned aerial vehicle flight represents a pixel in the air, pixel through the pattern of a plurality of unmanned aerial vehicles, can accomplish the performance of various patterns through this kind of mode, generally speaking, it needs many formation unmanned aerial vehicles to realize a performance pattern.
However, in the process of implementing the present invention, the inventor finds that in the prior art, many drones are required for the formation of the drones, which results in complex implementation and poor performance effect of the drone performance.
Disclosure of Invention
The embodiment of the application provides a control method, a control device, control equipment and a storage medium for unmanned aerial vehicles, and aims to solve the problems that the existing unmanned aerial vehicle formation performance needs a great number of unmanned aerial vehicles, so that the unmanned aerial vehicle performance is complex to realize and the performance effect is poor.
In a first aspect, an embodiment of the present application provides a control method for an unmanned aerial vehicle, including:
acquiring course information and course information of the unmanned aerial vehicle, wherein the course information and the course information are determined according to a target pattern and the shape and size of a light source arranged on the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to fly according to the route information and the course information;
wherein, the last light source that sets up of unmanned aerial vehicle includes following arbitrary one: linear light sources, annular light sources, square light sources, triangular light sources and special-shaped light sources.
In this kind of implementation scheme, unmanned aerial vehicle's control not only will combine the airline, because the shape and the structure of light source itself, in order can show the target pattern through the light source, still control unmanned aerial vehicle's course, through this kind of mode, can use less unmanned aerial vehicle to realize the target pattern to compare its effect of the mode that pixel point represented better.
In one embodiment, obtaining route information and heading information of the drone includes:
and receiving course information and course information sent by the control equipment.
In one embodiment, obtaining route information and heading information of the drone includes:
acquiring the position of each unmanned aerial vehicle in the target pattern at each moment and the shape and size of a light source arranged on each unmanned aerial vehicle;
determining the position information of the unmanned aerial vehicle at each moment according to the position of the unmanned aerial vehicle at each moment and the shape and size of the light source on the unmanned aerial vehicle adjacent to each moment, and determining the navigation direction of the unmanned aerial vehicle when the unmanned aerial vehicle flies from one position to the next position;
generating route information according to the position information of the unmanned aerial vehicle at each moment;
and acquiring course information according to the navigation direction of the unmanned aerial vehicle flying from each position to the next position.
In the specific implementation of the technical scheme of the application, the route information and the course information for controlling the unmanned aerial vehicle can be directly written into each unmanned aerial vehicle, the unmanned aerial vehicle can also be sent to the unmanned aerial vehicle through other control equipment in the flight process, the unmanned aerial vehicle can also be determined by itself according to the input target pattern and the position of the unmanned aerial vehicle in the pattern, and the scheme is not limited.
In one embodiment, the method further comprises:
dividing a target pattern to obtain a plurality of basic patterns forming the target pattern;
according to a plurality of basic patterns, the shape and the size of the light source that sets up on the unmanned aerial vehicle confirm to use unmanned aerial vehicle's quantity and compound mode.
If in this scheme uses unmanned aerial vehicle's controlgear, controlgear still need cut apart the target pattern that will realize, based on unmanned aerial vehicle's light source shape, confirms the combination mode and the unmanned aerial vehicle number that needs to control unmanned aerial vehicle that can be better when realizing the target pattern.
In a second aspect, an embodiment of the present application provides a control apparatus for an unmanned aerial vehicle, including:
the acquisition module is used for acquiring the course information and the course information of the unmanned aerial vehicle, and the course information are determined according to the target pattern and the shape and the size of a light source arranged on the unmanned aerial vehicle;
the control module is used for controlling the unmanned aerial vehicle to fly according to the route information and the course information;
wherein, the last light source that sets up of unmanned aerial vehicle includes following arbitrary one: linear light sources, annular light sources, square light sources, triangular light sources and special-shaped light sources.
Optionally, the obtaining module includes:
and the receiving submodule is used for receiving the route information and the course information sent by the control equipment.
Optionally, the obtaining module includes: a processing submodule for:
acquiring the position of each unmanned aerial vehicle in the target pattern at each moment and the shape and size of a light source arranged on each unmanned aerial vehicle;
determining the position information of the unmanned aerial vehicle at each moment according to the position of the unmanned aerial vehicle at each moment and the shape and size of the light source on the unmanned aerial vehicle adjacent to each moment, and determining the navigation direction of the unmanned aerial vehicle when the unmanned aerial vehicle flies from one position to the next position;
generating route information according to the position information of the unmanned aerial vehicle at each moment;
and acquiring course information according to the navigation direction of the unmanned aerial vehicle flying from each position to the next position.
Optionally, the processing sub-module is further specifically configured to:
dividing a target pattern to obtain a plurality of basic patterns forming the target pattern;
according to a plurality of basic patterns, the shape and the size of the light source that sets up on the unmanned aerial vehicle confirm to use unmanned aerial vehicle's quantity and compound mode.
In a third aspect, an embodiment of the present application provides an electronic device, including:
a processor, a communication interface for communicating with other electronic devices; and the number of the first and second groups,
a memory for storing executable instructions of the processor;
wherein the processor is configured to execute the control method of the drone provided in any one of the embodiments of the first aspect via executing the executable instructions.
In a fourth aspect, an embodiment of the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a light source, the light source includes any one of the following: linear light sources, annular light sources, square light sources, triangular light sources and special-shaped light sources.
In a fifth aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for controlling a drone provided in any one of the embodiments of the first aspect.
According to the scheme, the electronic equipment or the unmanned aerial vehicle used for controlling the unmanned aerial vehicle firstly acquires the route information and the course information of the unmanned aerial vehicle, the route information and the course information are determined according to the target pattern and the shape and the size of the light source arranged on the unmanned aerial vehicle, the light source arranged on the unmanned aerial vehicle can be any one of a linear light source, an annular light source, a square light source, a triangular light source, a special-shaped light source and the like, and then the unmanned aerial vehicle is controlled to fly according to the route information and the course information. In the scheme, an unmanned aerial vehicle does not represent pixel points any more, but can represent lines or certain patterns, fewer unmanned aerial vehicles can be used for realizing target patterns by controlling the air route and the course of the unmanned aerial vehicle, and the target patterns realized by the light source have better effect.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flowchart of a first embodiment of a control method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a flowchart of a second control method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic diagram of an unmanned aerial vehicle implementing a preset target pattern in the prior art;
fig. 4 is a schematic diagram illustrating a scheme provided in an embodiment of the present application to implement a preset target pattern;
FIG. 5 is a schematic diagram comparing FIGS. 3 and 4 provided by an embodiment of the present application;
FIG. 6 is a schematic diagram showing another target pattern achieved by the solution provided in the embodiment of the present application in comparison with the prior art;
FIG. 7 is a schematic diagram showing a comparison between the scheme provided by the embodiment of the present application and another target pattern realized by the prior art;
fig. 8 is a schematic structural diagram of a first control device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a second control device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a third control device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 11 is a schematic entity diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments that can be made by one skilled in the art based on the embodiments in the present application in light of the present disclosure are within the scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the current common scheme, especially in the application of some unmanned aerial vehicle formation performance, one formation unmanned aerial vehicle is taken as a unit, each formation unmanned aerial vehicle is provided with a lamp, each formation airplane flying in the air is a bright spot after the lamp is turned on, and each bright spot is a component pixel in a formation performance pattern (namely a target pattern). Regardless of the size of the formation airplane, each formation airplane can only represent one pixel point, and many pixel points are needed to form one pattern, which means that many formation unmanned planes are needed to form one pattern.
At specific unmanned aerial vehicle formation performance in-process, need adopt very much unmanned aerial vehicle to be used for expressing the pixel, lead to the unmanned aerial vehicle performance to realize complicacy to the performance effect is not good.
In view of the above problems, the present application provides an unmanned aerial vehicle and a control method for the unmanned aerial vehicle, which are used for realizing more complex patterns through fewer unmanned aerial vehicles and realizing better effect of the patterns.
In the process of researching unmanned aerial vehicle control, the inventor finds that when drawing, in addition to points, lines exist, but in the current formation performance adopting unmanned aerial vehicles, only points are used, particularly, light sources on the unmanned aerial vehicles are relatively small, so that whether light sources with other shapes can be installed on the unmanned aerial vehicles or not is considered, the aim is to change the original point composition of the formation performance unmanned aerial vehicles into the line composition or the basic figure composition, and thus, the patterns as many as possible can be formed by fewer aircrafts. Then, according to the light sources with different shapes, fewer unmanned planes can be adopted to realize more target patterns, and due to the improvement of the shape of the light sources, one pixel is not represented singly, one basic pattern can be represented continuously, and therefore, the effect of realizing the target patterns is better.
In the specific implementation of the technical scheme, good air route and course planning can be carried out, control information is written into the unmanned aerial vehicle, the unmanned aerial vehicle controls the self-flying based on the written control information, and a certain flying purpose is achieved. Only one executing agent, namely the unmanned aerial vehicle, is involved in the implementation.
In addition, with the development of the technology of the internet of things and the 5G NR technology, all the formation unmanned aerial vehicles can be controlled in a unified mode through unified control equipment, and the control equipment can achieve planning of routes and courses of the unmanned aerial vehicles according to target patterns to be formed. This kind of realization then involves control device and a plurality of unmanned aerial vehicle, can communicate through wireless network between control device and every unmanned aerial vehicle.
The light source that sets up on the unmanned aerial vehicle that this application embodiment relates to no longer only includes the light source that represents a point, still includes any one of following: the light source may be a linear light source, a circular light source, a square light source, a triangular light source, a special-shaped light source, or the like, and may be a special-shaped light source having a circular shape, an elliptical shape, a pentagonal shape, a cruciform shape, or the like. In the embodiments of the present application, the light sources with several shapes are only exemplified, and the shapes of the light sources in the specific implementation can be set according to actual situations, and the shapes of the light sources are not limited.
Based on the above scenario and the unmanned aerial vehicle, the control method of the unmanned aerial vehicle provided by the present application is described in detail below through several specific embodiments.
Fig. 1 is a flowchart of a first control method of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 1, the scheme may be applied to an unmanned aerial vehicle or a control device for controlling an unmanned aerial vehicle, and may be collectively referred to as an electronic device, where the control method of an unmanned aerial vehicle according to this embodiment includes the following steps:
s101: and acquiring course information and course information of the unmanned aerial vehicle, wherein the course information and the course information are determined according to the target pattern and the shape and size of a light source arranged on the unmanned aerial vehicle.
In this step, the light source that sets up on the unmanned aerial vehicle can include any one of following: linear light sources, annular light sources, square light sources, triangular light sources, various shaped light sources, and the like.
In addition, various types of light sources may also be provided on the drone according to the actual circumstances of the target pattern to be achieved, for example: the present embodiment is not limited to the irregular light source with a shape of a circle, an ellipse, a pentagram, a cross, etc.
If the step is executed by the unmanned aerial vehicle, the mode of acquiring the route information and the heading information may include the following steps:
the first method is that route information and course information sent by control equipment are received, and information transmission is carried out between the control equipment and an unmanned aerial vehicle in a wireless communication mode.
And secondly, writing route information and course information into the unmanned aerial vehicle in advance. It is also true for the drone that this information is received and stored.
Thirdly, with the development and intellectualization of the unmanned aerial vehicle technology, the unmanned aerial vehicle can also carry out route planning by itself to determine route information and course information of the unmanned aerial vehicle.
If the step is executed by the control equipment of the unmanned aerial vehicle, planning the course and the course based on the target pattern and the shape and the size of the light source arranged on each unmanned aerial vehicle is needed, and the course information are obtained.
In a specific implementation of this embodiment, it should be understood that, in the course of planning the route of each drone, the planning needs to be performed based on a target pattern to be completed, the target pattern may be divided to obtain a plurality of basic patterns, and then the planning of the basic patterns is implemented by one or more drones flying.
Simultaneously, the direction of unmanned aerial vehicle need be considered, because the shape of light source differs on the unmanned aerial vehicle, in order to accomplish certain basic pattern and need with other unmanned aerial vehicle cooperations, combine the position and the light source shape size of other unmanned aerial vehicles, consider the course of confirming unmanned aerial vehicle jointly.
Further, still need consider not can collide between the unmanned aerial vehicle, compare in prior art light source less, only need consider unmanned aerial vehicle's size can. The light source shape that sets up on the unmanned aerial vehicle in the scheme of this application differs, and is not of uniform size, then need consider the size of light source in every orientation, the distance between the final definite unmanned aerial vehicle, and then confirm unmanned aerial vehicle's airline and course information.
S102: and controlling the unmanned aerial vehicle to fly according to the route information and the course information.
In the step, after the course information and the course information of the unmanned aerial vehicle are obtained, the unmanned aerial vehicle is controlled to fly according to the course information and the course information, and the light source can realize the final target pattern.
If the step is executed by the unmanned aerial vehicle, the unmanned aerial vehicle only needs to acquire own route information and course information and control the unmanned aerial vehicle to fly. Each drone operates in this way, enabling the light source to eventually reach the target pattern.
If the step is executed by the control equipment, the control equipment sends the course information and the course information of each unmanned aerial vehicle to each unmanned aerial vehicle in a control instruction mode through wireless communication after obtaining the course information and the course information of each unmanned aerial vehicle, so that the flight of each unmanned aerial vehicle is controlled, and the light sources on the unmanned aerial vehicles finally reach the target pattern.
According to the control method of the unmanned aerial vehicle, each unmanned aerial vehicle does not represent pixel points any more, but can represent lines or certain patterns, fewer unmanned aerial vehicles can be used for achieving target patterns by controlling the air route and the course of the unmanned aerial vehicle, and the light source is continuous on at least simple lines or basic patterns, so that the achieved target patterns are better in effect.
Fig. 2 is a flowchart of a second control method for an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 2, on the basis of the foregoing embodiment, if the scheme is applied to the control device, the step S101 executed by the control device specifically includes the following steps:
s1011: the position of the unmanned aerial vehicle at each moment in the target pattern and the shape and size of the light source arranged on each unmanned aerial vehicle are obtained.
In this step, the control device needs to determine, from the target pattern, the specific location of each drone in the target pattern, including the planned position at the time of the performance, and/or the relative position to other drones in the target pattern.
In addition, the shape and size of the light source provided on each drone need to be acquired, including the size in each direction and the like.
In an optional implementation manner, before this step, the control device may further divide the target pattern to obtain a plurality of basic patterns constituting the target pattern; according to a plurality of basic patterns, the shape and the size of the light source that sets up on the unmanned aerial vehicle confirm to use unmanned aerial vehicle's quantity and compound mode.
In this solution, the control device also needs to segment the target pattern to be realized to obtain a plurality of basic patterns that constitute the target pattern, for example: a target pattern may be divided into different lines or a basic shape including a circle, a square, or a pentagon. Based on the light source shape of the unmanned aerial vehicle, the combination mode and the required number of the unmanned aerial vehicles are determined, so that the unmanned aerial vehicles can be better controlled when the target pattern is realized. For example: the square shape can be realized by one unmanned aerial vehicle provided with a rectangular light source, and also can be realized by four or more unmanned aerial vehicles provided with long lamp tubes; the pentagram can be realized through an unmanned aerial vehicle who has set up the pentagram light source, also can realize through ten or twenty unmanned aerial vehicles who have set up long fluorescent tube.
S1012: according to the position of the unmanned aerial vehicle at each moment and the shape and size of the light source on the unmanned aerial vehicle adjacent to each moment, the position information of the unmanned aerial vehicle at each moment is determined, and the navigation direction of the unmanned aerial vehicle when flying from one position to the next position is determined.
In this step, the position of the unmanned aerial vehicle obtained in the above step, and the shape and the offset of the light source of the adjacent unmanned aerial vehicle are combined to determine the position information that the unmanned aerial vehicle should fly to at each moment in the process of realizing the target pattern. Then according to the position information of two adjacent moments of unmanned aerial vehicle to and the shape and the size of the light source on the unmanned aerial vehicle, confirm the direction that unmanned aerial vehicle flies, that is to say the navigation direction.
S1013: and generating air route information according to the position information of the unmanned aerial vehicle at each moment.
In the step, route information of each unmanned aerial vehicle is generated according to the position information of each unmanned aerial vehicle at each moment obtained in the step.
S1014: and acquiring course information according to the navigation direction of the unmanned aerial vehicle flying from each position to the next position.
Similarly to the above, in this step, the heading information of each drone is finally determined according to the heading direction of the drone from each location to the next location.
Optionally, if the route information and the heading information are planned by the unmanned aerial vehicle, for the same unmanned aerial vehicle, only the position information, the shape and the size of the light source of the unmanned aerial vehicle and the position information, the shape and the size of the light source of the unmanned aerial vehicle are determined, so that the route information and the heading information of the unmanned aerial vehicle can be planned.
After the course information and the course information for controlling the unmanned aerial vehicle are obtained according to the scheme, each unmanned aerial vehicle can be directly written in the process of controlling the unmanned aerial vehicle, and the unmanned aerial vehicle can also be sent to the unmanned aerial vehicle in the flying process.
In this kind of implementation scheme, unmanned aerial vehicle's control not only will combine the airline, because the shape and the structure of light source itself, in order can show the target pattern through the light source, still control unmanned aerial vehicle's course, through this kind of mode, can use less unmanned aerial vehicle to realize the target pattern to compare its effect of the mode that pixel point represented better.
Fig. 3 is a schematic diagram of an unmanned aerial vehicle implementing a preset target pattern in the prior art; fig. 4 is a schematic diagram illustrating a scheme provided in an embodiment of the present application to implement a preset target pattern; fig. 5 is a schematic diagram comparing fig. 3 and fig. 4 provided in the embodiment of the present application.
As shown in fig. 3, in the prior art, a formation unmanned aerial vehicle is only displayed as a pixel point, and in order to realize this pattern of "2", 11 unmanned aerial vehicles are needed to realize the pattern, and in the unmanned aerial vehicle control process, the route planning of 11 unmanned aerial vehicles needs to be planned.
As shown in fig. 4, if adopt the technical scheme that this application provided, set up long fluorescent tube on unmanned aerial vehicle, also be linear light source promptly, a formation unmanned aerial vehicle shows as a line, realizes this pattern of "2", then just can realize through 5 unmanned aerial vehicles. This scheme hangs a lamp with original formation unmanned aerial vehicle and constitutes the pattern as single pixel in the air and change into a formation unmanned aerial vehicle carries a long fluorescent tube, and a formation unmanned aerial vehicle has become a line by original point like this, just so can constitute more patterns with unmanned aerial vehicle still less, has realized the innovation of formation performance to only need control unmanned aerial vehicle still less, saved the cost, change in the realization.
Further, as can be seen from the comparison graph shown in fig. 5, the pattern formed by 11 unmanned aerial vehicles in the prior art can be realized by only 5 unmanned aerial vehicles, and the effect expressed by the strip-shaped lamp tube is better than that of the pattern expressed by discrete pixel points.
FIG. 6 is a schematic diagram showing another target pattern achieved by the solution provided in the embodiment of the present application in comparison with the prior art; as shown in fig. 6, to realize this pattern of triangles, 7 drones are needed to realize the pattern, and during the drone control process, the route planning of 7 drones needs to be planned. If according to the technical scheme of this application, directly set up triangular light source on an unmanned aerial vehicle, then just can realize through an unmanned aerial vehicle to the effect of realization is better.
FIG. 7 is a schematic diagram showing a comparison between the scheme provided by the embodiment of the present application and another target pattern realized by the prior art; as shown in fig. 7, to realize this circular pattern, 8 drones are required to realize the pattern, and during the drone control process, the route planning of 8 drones needs to be planned. If according to the technical scheme of this application, directly set up circular shape light source on an unmanned aerial vehicle, then just can realize through an unmanned aerial vehicle to the effect of realization is better.
On the basis of the above example, the special-shaped light sources arranged on the unmanned aerial vehicle can be combined into a more complex target pattern, which cannot be realized by the prior art.
The utility model provides an unmanned aerial vehicle and unmanned aerial vehicle's control method, through the light source of the various shapes that set up on unmanned aerial vehicle, an unmanned aerial vehicle no longer represents the pixel, but can represent the lines, perhaps certain pattern, through controlling unmanned aerial vehicle's airline and course, can use less unmanned aerial vehicle to realize complicated target pattern, and the target pattern effect that this kind of light source realized is better, not only simplified control scheme, and can also save the cost to a certain extent.
Fig. 8 is a schematic structural diagram of a first control device of an unmanned aerial vehicle according to an embodiment of the present application; as shown in fig. 8, the control device 10 of the unmanned aerial vehicle provided in this embodiment includes:
the system comprises an acquisition module 11, a processing module and a display module, wherein the acquisition module is used for acquiring route information and course information of the unmanned aerial vehicle, and the route information and the course information are determined according to a target pattern and the shape and size of a light source arranged on the unmanned aerial vehicle;
the control module 12 is used for controlling the unmanned aerial vehicle to fly according to the route information and the course information;
wherein, the last light source that sets up of unmanned aerial vehicle includes following arbitrary one: linear light sources, annular light sources, square light sources, triangular light sources and special-shaped light sources.
The control device of the unmanned aerial vehicle provided by the embodiment is used for realizing the technical scheme in any one of the method embodiments, the realization principle and the technical effect are similar, the unmanned aerial vehicle adopting the scheme to control no longer represents pixel points, but can represent lines or certain patterns, fewer unmanned aerial vehicles can be used for realizing target patterns by controlling the air route and the course of the unmanned aerial vehicle, and the target pattern realized by the light source has better effect.
Fig. 9 is a schematic structural diagram of a second control device of an unmanned aerial vehicle according to an embodiment of the present application; as shown in fig. 9, on the basis of the above embodiment, the obtaining module 11 specifically includes: a reception submodule 111;
and the system is used for receiving the course information and the course information sent by the control equipment.
Fig. 10 is a schematic structural diagram of a third control device of an unmanned aerial vehicle according to an embodiment of the present application; as shown in fig. 10, based on the embodiment shown in fig. 8, the obtaining module 11 includes: a processing sub-module 112 for:
acquiring the position of the unmanned aerial vehicle at each moment in the target pattern and the shape and size of a light source arranged on each unmanned aerial vehicle;
determining the position information of the unmanned aerial vehicle at each moment according to the position of the unmanned aerial vehicle at each moment and the shape and size of the light source on the unmanned aerial vehicle adjacent to each moment, and determining the navigation direction of the unmanned aerial vehicle when the unmanned aerial vehicle flies from one position to the next position;
generating the route information according to the position information of the unmanned aerial vehicle at each moment;
and acquiring the course information according to the navigation direction of the unmanned aerial vehicle flying from each position to the next position.
Optionally, the processing sub-module 112 is further specifically configured to:
dividing the target pattern to obtain a plurality of basic patterns forming the target pattern;
according to the plurality of basic patterns, the number and the combination mode of the unmanned aerial vehicles are determined according to the shapes and the sizes of the light sources arranged on the unmanned aerial vehicles.
The control device of the unmanned aerial vehicle provided by any one of the above embodiments is used for realizing the technical scheme in any one of the above method embodiments, and the realization principle and the technical effect are similar, and are not repeated herein.
Fig. 11 is a schematic entity diagram of an electronic device according to an embodiment of the present application. This electronic equipment can be realized as unmanned aerial vehicle, perhaps unmanned aerial vehicle's controlgear, does not do the restriction to this application embodiment. As shown in fig. 11, the electronic device includes:
a processor 110, a communication interface 130 to communicate with other electronic devices; and the number of the first and second groups,
a memory 120 for storing executable instructions for the processor 110;
wherein the processor 110 is configured to execute, via execution of the executable instructions, the aspects of the control method of the drone provided by any of the method embodiments described above.
It is understood in this scenario that memory 120 may comprise one or more of RAM and or ROM. The memory 120 may be separate from the processor 110 or may be integrated in the processor 110.
The processor 110, memory 120, and interface 130 may be connected directly or via a bus 140.
The embodiment of the present application further provides a storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the scheme of the control method for the unmanned aerial vehicle provided in any of the foregoing method embodiments.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring route information and course information of an unmanned aerial vehicle, wherein the route information and the course information are determined according to a target pattern and the shape and size of a light source arranged on the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to fly according to the route information and the course information;
wherein, the last light source that sets up of unmanned aerial vehicle includes following arbitrary one: a linear light source, an annular light source, a square light source, a triangular light source and a special-shaped light source;
the method further comprises the following steps:
dividing the target pattern to obtain a plurality of basic patterns forming the target pattern;
according to the basic patterns and the shape and size of the light source arranged on the unmanned aerial vehicle, the number and the combination mode of the unmanned aerial vehicles are determined.
2. The method of claim 1, wherein the obtaining of course information and heading information of the drone comprises:
and receiving the course information and the course information sent by the control equipment.
3. The method of claim 1, wherein the obtaining of course information and heading information of the drone comprises:
acquiring the position of the unmanned aerial vehicle at each moment in the target pattern and the shape and size of a light source arranged on each unmanned aerial vehicle;
determining the position information of the unmanned aerial vehicle at each moment according to the position of the unmanned aerial vehicle at each moment and the shape and size of the light source on the unmanned aerial vehicle adjacent to each moment, and determining the navigation direction of the unmanned aerial vehicle when the unmanned aerial vehicle flies from one position to the next position;
generating the route information according to the position information of the unmanned aerial vehicle at each moment;
and acquiring the course information according to the navigation direction of the unmanned aerial vehicle flying from each position to the next position.
4. A control device of an unmanned aerial vehicle, comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring route information and course information of the unmanned aerial vehicle, and the route information and the course information are determined according to a target pattern and the shape and size of a light source arranged on the unmanned aerial vehicle;
the control module is used for controlling the unmanned aerial vehicle to fly according to the route information and the course information;
wherein, the last light source that sets up of unmanned aerial vehicle includes following arbitrary one: a linear light source, an annular light source, a square light source, a triangular light source and a special-shaped light source;
the acquisition module includes: a processing submodule, the processing submodule specifically configured to:
dividing the target pattern to obtain a plurality of basic patterns forming the target pattern;
according to the plurality of basic patterns, the number and the combination mode of the unmanned aerial vehicles are determined according to the shapes and the sizes of the light sources arranged on the unmanned aerial vehicles.
5. The apparatus of claim 4, wherein the obtaining module comprises:
and the receiving submodule is used for receiving the course information and the course information sent by the control equipment.
6. The apparatus of claim 4, wherein the obtaining module comprises: a processing submodule for:
acquiring the position of the unmanned aerial vehicle at each moment in the target pattern and the shape and size of a light source arranged on each unmanned aerial vehicle;
determining the position information of the unmanned aerial vehicle at each moment according to the position of the unmanned aerial vehicle at each moment and the shape and size of the light source on the unmanned aerial vehicle adjacent to each moment, and determining the navigation direction of the unmanned aerial vehicle when the unmanned aerial vehicle flies from one position to the next position;
generating the route information according to the position information of the unmanned aerial vehicle at each moment;
and acquiring the course information according to the navigation direction of the unmanned aerial vehicle flying from each position to the next position.
7. An electronic device, comprising:
a processor, a communication interface for communicating with other electronic devices; and the number of the first and second groups,
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of controlling a drone of any one of claims 1 to 3 via execution of executable instructions.
8. An unmanned aerial vehicle, wherein the unmanned aerial vehicle is used for implementing the control method of the unmanned aerial vehicle according to any one of claims 1 to 3, and a light source is arranged on the unmanned aerial vehicle, and the light source comprises any one of the following components: linear light sources, annular light sources, square light sources, triangular light sources and special-shaped light sources.
9. A storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the method of controlling a drone of any one of claims 1 to 3.
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