CN112161625B - Animation software generation waypoint speed increasing method and system, computer equipment and unmanned aerial vehicle - Google Patents
Animation software generation waypoint speed increasing method and system, computer equipment and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN112161625B CN112161625B CN202010974097.1A CN202010974097A CN112161625B CN 112161625 B CN112161625 B CN 112161625B CN 202010974097 A CN202010974097 A CN 202010974097A CN 112161625 B CN112161625 B CN 112161625B
- Authority
- CN
- China
- Prior art keywords
- waypoint
- overspeed
- unmanned aerial
- aerial vehicle
- waypoints
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T13/00—Animation
Abstract
The invention belongs to the technical field of unmanned aerial vehicle formation motion planning, and discloses a method, a system, computer equipment and an unmanned aerial vehicle for generating a waypoint speed-up by animation software, wherein an original unmanned aerial vehicle waypoint file is input into the system, and the length of the airplane waypoint file is compared with the length of the original unmanned aerial vehicle waypoint file; reading a waypoint file of the unmanned aerial vehicle, inputting a maximum speed limit, carrying out overspeed detection on the waypoint, and feeding back overspeed information; if the overspeed information fed back by the overspeed detection is not empty, the waypoint has overspeed, and the waypoint is automatically calculated according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing; automatically detecting an accelerating waypoint interval, and generating an accelerated waypoint according to an automatic acceleration algorithm; and generating a speed-up rear waypoint file meeting the conditions to the unmanned aerial vehicle. The invention utilizes the speed measurement analysis of the generated waypoints, realizes the function of automatic speed increase of the waypoints under the condition that the unmanned aerial vehicle meets the physical characteristics through the speed increase algorithm, and obtains the artistic effects of ensuring high-speed flight under the safe flight condition and quickly presenting dynamic pictures.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle formation control, and particularly relates to a method and a system for accelerating speed of a navigation point generated by animation software, computer equipment and an unmanned aerial vehicle.
Background
At present, in the unmanned aerial vehicle formation performance industry, in order to enable unmanned aerial vehicles to present formation performance effects required by creative personnel in the air.
The prior art method adopted at present is as follows: and performing secondary development based on mature animation software (such as 3ds MAX, Maya, Unity, blender and the like), and generating an unmanned aerial vehicle flight point by deriving the animation generated by the software, so that the unmanned aerial vehicle performs air formation flight performance according to the flight point information.
The disadvantages of the current methods are: by carrying out secondary development based on mature animation production software (such as 3ds MAX, Maya, Unity, blender and the like), when the animation generated by the software is exported to be the unmanned aerial vehicle flight point, the whole picture of the performance is changed to be produced in the animation production software in the previous period, the whole action change amplitude proportion is fixed, and when the whole animation production point is exported, the maximum change frame of the animation is limited under the physical characteristics in order to meet the maximum physical characteristic limit of the unmanned aerial vehicle flight. Thus, derived aircraft waypoints may occur where a single waypoint reaches the maximum physical characteristics of the aircraft and the remaining waypoints may be far below the ideal physical characteristics, e.g. with speed as the physical characteristic target, which derives that the drone reaches maximum speed only at a single waypoint, all the remaining times being far below maximum speed, so that the overall average speed is far below the maximum speed limit.
Through the above analysis, the problems and defects of the prior art are as follows: at present, formation performance unmanned aerial vehicle waypoint generating equipment based on secondary development of mature animation software is used as a basis for deriving frames according to the maximum physical limit of an unmanned aerial vehicle when deriving waypoints, so that the unmanned aerial vehicle cannot exert the maximum physical performance when flying according to the derived waypoints, and meanwhile, the problem that the whole picture cannot well meet the artistic expression requirements of creative designers is caused.
The difficulty in solving the above problems and defects is: the navigation point file exported by the existing method is processed by inventing an animation software navigation point speed-up method, and the difficulty is that no existing method can be used for reference at present.
The significance of solving the problems and the defects is as follows: the method can make up for the defects brought by the conventional mainstream animation waypoint generation mode, automatically accelerates the original waypoint, generates the optimal speed meeting the requirement according to the physical characteristics of the unmanned aerial vehicle, enables the unmanned aerial vehicle to fly at high speed in the whole performance process, achieves a better dynamic presentation effect, better expresses the ideal artistic effect of creative personnel, and simultaneously ensures the safe and efficient flight of the unmanned aerial vehicle.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a system for speeding up a navigation point generated by animation software, computer equipment and an unmanned aerial vehicle.
The invention is realized in this way, a method for speeding up navigation points generated by animation software, the method for speeding up navigation points generated by animation software comprises the following steps:
inputting an original unmanned aerial vehicle waypoint file into a system, comparing whether the lengths of the unmanned aerial vehicle waypoint files are consistent or not, and if not, feeding back information to an operator for modification;
reading a waypoint file of the unmanned aerial vehicle, inputting a maximum speed limit, carrying out overspeed detection on the waypoint, and feeding back overspeed information;
if the overspeed information fed back by the overspeed detection is not empty, the waypoint has overspeed, and the waypoint is automatically calculated according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing;
automatically detecting an acceleratable waypoint interval, automatically calculating according to an automatic speed-up algorithm, and generating an accelerated waypoint;
and generating a speed-up back waypoint file meeting the conditions to the unmanned aerial vehicle.
Further, the animation software generation waypoint speed acceleration method carries out overspeed detection analysis on waypoints: recording displacement of the corresponding unmanned aerial vehicle in each period among the waypoints of the unmanned aerial vehicle, finding the maximum displacement in each period as the maximum displacement amplitude, and recording a queue { I } ═ I generated by each overspeed period if the maximum displacement in the period exceeds the maximum displacement allowed in a single period under the condition of maximum speed 1 ,I 2 …, wherein each element is numbered for each overspeed cycle, and the corresponding maximum displacement magnitude in each overspeed cycle is recorded to generate a queue { D } -, D 1 ,D 2 …, wherein each element is the maximum amplitude within the corresponding overspeed cycle.
Further, the animation software generation waypoint speed-up method carries out speed reduction processing on overspeed waypoints: in each period between the waypoints of the unmanned aerial vehicle, calculating the maximum displacement allowed in each period between the waypoints according to the input maximum speed limit, then calculating the number n of waypoints needing to be increased in the overspeed interval after deceleration according to the input overspeed information and the maximum displacement amplitude of drinking in the overspeed period, and then performing linear interpolation in the interval according to a linear interpolation method to generate the waypoints, wherein the interpolation waypoint calculation formula is as follows:
wherein i represents the overspeed cycle number, X, Y and Z are respectively represented as the original waypoint coordinate values of the unmanned aerial vehicle,
respectively representing the coordinates of the aircraft waypoints after linear interpolation, and k represents the number of the waypoints interpolated in the interval.
Further, the method for generating waypoints and speeding up the waypoints by the animation software carries out automatic partition and speeding up on the waypoints, automatically divides n adjacent waypoints into an acceleration interval, and divides waypoints m in the partition into acceleration intervals 1 And m n Reserve, to waypoint m 2 ,…,m n-1 Interpolation is carried out to obtain navigation point m' 1 ,…,m' n-3 The accelerated interval after acceleration is from a waypoint m 1 ，m n And m' 1 ,…,m' n-3 Composition is carried out; and speed detection is carried out on the accelerated interval: if the speed of the vehicle is not exceeded, replacing the waypoint m before acceleration with the interval waypoint after acceleration 1 ,…,m n The interval of composition; if the section is overspeed after acceleration, the original waypoint member of the section, namely waypoint m, is reserved 1 ,…,m n Abandon waypoint m' 1 ,…,m' n-3 。
It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
inputting an original unmanned aerial vehicle waypoint file into the system, comparing whether the lengths of the unmanned aerial vehicle waypoint files are consistent or not, and if not, feeding back information to an operator for modification;
reading a waypoint file of the unmanned aerial vehicle, inputting maximum speed limit, carrying out overspeed detection on waypoints, and feeding back overspeed information;
if the overspeed information fed back by the overspeed detection is not empty, the waypoint has overspeed, and the waypoint is automatically calculated according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing;
automatically detecting an accelerating waypoint interval, automatically calculating according to an automatic speed-up algorithm, and generating a speed-up waypoint;
and generating a speed-up back waypoint file meeting the conditions to the unmanned aerial vehicle.
It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
inputting an original unmanned aerial vehicle waypoint file into a system, comparing whether the lengths of the unmanned aerial vehicle waypoint files are consistent or not, and if not, feeding back information to an operator for modification;
reading a waypoint file of the unmanned aerial vehicle, inputting a maximum speed limit, carrying out overspeed detection on the waypoint, and feeding back overspeed information;
if the overspeed information fed back by the overspeed detection is not empty, the waypoint has overspeed, and the waypoint is automatically calculated according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing;
automatically detecting an accelerating waypoint interval, automatically calculating according to an automatic speed-up algorithm, and generating a speed-up waypoint;
and generating a speed-up back waypoint file meeting the conditions to the unmanned aerial vehicle.
Another object of the present invention is to provide an animation software-generated waypoint acceleration system implementing the animation software-generated waypoint acceleration method, the animation software-generated waypoint acceleration system comprising:
the unmanned aerial vehicle waypoint file input module is used for inputting an original unmanned aerial vehicle waypoint file into the system;
the waypoint speed detection module is used for reading a waypoint file of the unmanned aerial vehicle, inputting maximum speed limit, carrying out overspeed detection on the waypoint and feeding back overspeed information;
the automatic waypoint calculation module is used for realizing that overspeed information fed back by overspeed detection is not empty, and automatically calculating the waypoint according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing if the waypoint has overspeed;
the speed-up waypoint generating module is used for automatically detecting the interval of the speed-up waypoints, automatically calculating according to an automatic speed-up algorithm and generating the speed-up waypoints;
and the waypoint file sending module is used for generating the speed-up waypoint file meeting the conditions and sending the speed-up waypoint file to the unmanned aerial vehicle.
Another object of the present invention is to provide a drone equipped with the animation software-generated waypoint acceleration system.
By combining all the technical schemes, the invention has the advantages and positive effects that: the method can automatically detect the original waypoint file, perform deceleration processing on the overspeed part, and simultaneously automatically detect the acceleratable region to perform acceleration processing to generate the waypoint file meeting the requirements; a deceleration processing mode at an overspeed waypoint, a waypoint acceleration partition mode and an automatic speed-up method. The method circularly changes the navigation point partition structure, and traverses all navigation point partitions to accelerate until an optimal accelerating effect is generated. When the automatic partition is carried out for speed increase, the partition is partitioned by 4 adjacent waypoints, and the partition mode is determined by the requirement of the initial position, so that 3 different partition modes can be generated under a certain number of waypoints. In order to achieve the optimal speed-up effect, the navigation point partition structure can be changed circularly to carry out speed-up until the optimal speed-up effect is generated.
The new waypoint file processed by speed acceleration is uploaded to the unmanned aerial vehicle again. When the unmanned aerial vehicles form a team to perform, the performance presentation effect of high-speed flight is achieved. The method for generating the speed of the waypoint by the animation software utilizes the speed measurement analysis of the generated waypoint, realizes the function of automatically increasing the speed of the waypoint when the unmanned aerial vehicle meets the physical characteristics through a speed increasing algorithm, and obtains the artistic effects of ensuring high-speed flight under the safe flight condition and quickly presenting dynamic pictures.
The invention can solve the problem of defects caused by navigation points derived based on animation software, and discloses a method for accelerating the navigation points generated by animation software. The invention can make up the defects brought by the conventional mainstream animation waypoint generation mode, automatically accelerates the original waypoint, generates the optimal speed meeting the requirement according to the physical characteristics of the unmanned aerial vehicle, enables the unmanned aerial vehicle to fly at high speed in the whole performance process, achieves better dynamic presentation effect, better expresses the ideal artistic effect of creative personnel, and simultaneously ensures the safe and efficient flight of the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
FIG. 1 is a flowchart of a method for generating waypoint acceleration by animation software according to an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of an animation software-generated waypoint speed acceleration system provided by an embodiment of the invention;
in FIG. 2: 1. an unmanned aerial vehicle waypoint file input module; 2. a waypoint speed detection module; 3. a waypoint automatic calculation module; 4. a waypoint generating module after speed increasing; 5. and a waypoint file sending module.
Fig. 3 is a schematic diagram of the accelerated interpolation provided by the embodiment of the present invention.
FIG. 4 is a graph of raw waypoint velocities provided by an embodiment of the invention for an original waypoint file that has not been accelerated by the method of the invention.
FIG. 5 is a graph of waypoint velocity provided by an embodiment of the invention after acceleration by the invention. Wherein the horizontal coordinate represents the number of waypoint frames and the vertical coordinate represents the speed.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a method and a system for generating a waypoint speed-up by animation software, computer equipment and an unmanned aerial vehicle, and the invention is described in detail by combining the attached drawings.
As shown in FIG. 1, the method for generating waypoint speed by animation software provided by the invention comprises the following steps:
s101: inputting an original unmanned aerial vehicle waypoint file into a system, comparing whether the lengths of the unmanned aerial vehicle waypoint files are consistent or not, and if not, feeding back information to an operator for modification;
s102: reading a waypoint file of the unmanned aerial vehicle, inputting a maximum speed limit, carrying out overspeed detection on the waypoint, and feeding back overspeed information;
s103: if the overspeed information fed back by the overspeed detection is not empty, the waypoint has overspeed, and the waypoint is automatically calculated according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing;
s104: automatically detecting an acceleratable waypoint interval, automatically calculating according to an automatic speed-up algorithm, and generating an accelerated waypoint;
s105: and generating a speed-up back waypoint file meeting the conditions to the unmanned aerial vehicle.
Those skilled in the art can also implement the method for generating waypoint speed by using animation software provided by the invention by using other steps, and the method for generating waypoint speed by using animation software provided by the invention of fig. 1 is only a specific embodiment.
As shown in fig. 2, the animation software-generated waypoint speed-increasing system provided by the invention comprises:
the unmanned aerial vehicle waypoint file input module 1 is used for inputting an original unmanned aerial vehicle waypoint file into the system;
the waypoint speed detection module 2 is used for reading the waypoint file of the unmanned aerial vehicle, inputting the maximum speed limit, carrying out overspeed detection on the waypoint and feeding back overspeed information;
the automatic waypoint calculation module 3 is used for realizing that overspeed information fed back by overspeed detection is not empty, and automatically calculating the waypoint according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing if the waypoint has overspeed;
the speed-up waypoint generation module 4 is used for automatically detecting the interval of the speed-up waypoints, automatically calculating according to an automatic speed-up algorithm and generating the speed-up waypoints;
and the waypoint file sending module 5 is used for generating the accelerated waypoint file meeting the conditions and sending the accelerated waypoint file to the unmanned aerial vehicle.
The technical scheme of the invention is further described in the following with reference to the attached drawings.
The method for generating the waypoint speed acceleration by the animation software provided by the invention carries out overspeed detection analysis on the waypoint: in each period between unmanned aerial vehicle waypoints, the displacement of the corresponding unmanned aerial vehicle is recorded, the maximum displacement in each period is found as the maximum displacement amplitude, and if the maximum displacement in the period exceeds the maximum displacement allowed in a single period under the condition of maximum speed, a queue { I } ═ I } generated by each overspeed period is recorded 1 ,I 2 …, wherein each element is numbered for each overspeed cycle, and the corresponding maximum displacement magnitude in each overspeed cycle is recorded to generate a queue { D } -, D 1 ,D 2 …, wherein each element is the maximum amplitude within the corresponding overspeed cycle.
The invention provides an animation software generation waypoint speed-up method which carries out speed reduction processing on overspeed waypoints: in each period between the waypoints of the unmanned aerial vehicle, the maximum displacement allowed in each period between the waypoints can be calculated according to the input maximum speed limit, then according to the input overspeed information, the number n of waypoints needing to be increased in the overspeed interval after deceleration can be calculated according to the maximum displacement amplitude of drinking in the overspeed period, then linear interpolation is carried out in the interval according to a linear interpolation method to generate the waypoints, and the calculation formula of the interpolated waypoints is as follows:
wherein i represents the overspeed cycle number, X, Y and Z are respectively represented as the original waypoint coordinate values of the unmanned aerial vehicle,
respectively representing the coordinates of the aircraft waypoints after linear interpolation, and k represents the number of the waypoints interpolated in the interval.
The method for generating the waypoint speed-up by the animation software provided by the invention automatically partitions the waypoint and automatically performs speed-up processing. In the system, n adjacent waypoints can be automatically divided into an acceleration interval, and as shown in figure 3, waypoint m in the subarea 1 And m n Reserve, to waypoint m 2 ,…,m n-1 Interpolation is carried out to obtain navigation point m' 1 ,…,m' n-3 The accelerated interval after acceleration is from a waypoint m 1 ，m n And m' 1 ,…,m' n-3 And (4) forming. Therefore, the speed detection is performed in the section after the speed increase: if not, replacing the waypoint m before acceleration by the interval waypoint after acceleration 1 ,…,m n The interval of composition; if the section is overspeed after acceleration, the original waypoint member of the section, namely waypoint m, is reserved 1 ,…,m n Abandon waypoint m' 1 ,…,m' n-3 。
The invention is further described below in connection with specific experiments.
As shown in fig. 4 and fig. 5, fig. 4 shows an original waypoint speed curve of an original waypoint file which is not accelerated by the method of the invention, and fig. 5 shows a waypoint speed curve after the acceleration of the invention, wherein a horizontal coordinate represents the number of waypoint frames and a vertical coordinate represents the speed. As can be seen in fig. 4, there is a single point maximum in the original waypoint speed, with the remaining waypoints all at a lower speed, which results in the drone flying at a very low average speed to follow the actual waypoint. As can be seen from the comparison between FIG. 4 and FIG. 5, the average speed of the waypoints after acceleration by the method is obviously increased compared with that before acceleration, the frame number used before acceleration is 600 frames, and the frame number after acceleration is shortened to about 330 frames, thereby verifying the effectiveness of the method of the invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. It will be appreciated by those skilled in the art that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, for example such code provided on a carrier medium such as a diskette, CD-or DVD-ROM, a programmable memory such as read-only memory (firmware) or a data carrier such as an optical or electronic signal carrier. The apparatus of the present invention and its modules may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, or software executed by various types of processors, or a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A method for accelerating a navigation point generated by animation software is characterized by comprising the following steps:
inputting an original unmanned aerial vehicle waypoint file into a system, comparing whether the lengths of the unmanned aerial vehicle waypoint files are consistent or not, and if not, feeding back information to an operator for modification;
reading a waypoint file of the unmanned aerial vehicle, inputting a maximum speed limit, carrying out overspeed detection on the waypoint, and feeding back overspeed information;
if the overspeed information fed back by the overspeed detection is not empty, overspeed exists in the waypoint, and the waypoint is automatically calculated according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing;
automatically detecting an accelerating waypoint interval, automatically calculating according to an automatic speed-up algorithm, and generating a speed-up waypoint;
generating a speed-up waypoint file meeting the conditions to the unmanned aerial vehicle;
the animation software generation waypoint speed increasing method carries out speed reduction treatment on overspeed waypoints: in each period between the waypoints of the unmanned aerial vehicle, calculating the maximum displacement allowed in each period between the waypoints according to the input maximum speed limit, then calculating the number n of waypoints needing to be increased in the overspeed interval after deceleration according to the input overspeed information and the corresponding maximum displacement amplitude in the overspeed period, and then performing linear interpolation in the interval according to a linear interpolation method to generate the waypoints, wherein the interpolation waypoint calculation formula is as follows:
wherein i represents the number of the overspeed cycle, X, Y and Z respectively represent the original waypoint coordinate values of the unmanned aerial vehicle,
respectively representing the coordinates of the aircraft waypoints after linear interpolation, and k represents the interpolated waypoint number in the interval;
the method for generating waypoints and speeding up waypoints by animation software carries out automatic partition and speeding up processing on the waypoints, automatically divides n adjacent waypoints into an acceleration interval, and divides waypoints m in the partition into 1 And m n Reserve, to waypoint m 2 ,…,m n-1 Interpolation processing is carried out to obtain navigation point m 'through interpolation' 1 ,…,m' n-3 The accelerated interval is defined by a waypoint m 1 ，m n And m' 1 ,…,m' n-3 Composition is carried out; and speed detection is carried out on the accelerated interval: if not, replacing the waypoint m before acceleration by the interval waypoint after acceleration 1 ,…,m n The interval of composition; if the section is overspeed after acceleration, the original waypoint member of the section, namely waypoint m, is reserved 1 ,…,m n Abandon waypoint m' 1 ,…,m' n-3 。
2. As claimed in claimThe method for generating the waypoint speed-up by the animation software is characterized by comprising the following steps of: recording displacement of the corresponding unmanned aerial vehicle in each period among the waypoints of the unmanned aerial vehicle, finding the maximum displacement in each period as the maximum displacement amplitude, and recording a queue { I } ═ I generated by each overspeed period if the maximum displacement in the period exceeds the maximum displacement allowed in a single period under the condition of maximum speed 1 ,I 2 …, wherein each element is numbered for each overspeed cycle, and the corresponding maximum displacement magnitude in each overspeed cycle is recorded to generate a queue { D } -, D 1 ,D 2 …, wherein each element is the maximum amplitude within the corresponding overspeed cycle.
3. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of:
inputting an original unmanned aerial vehicle waypoint file into a system, comparing whether the lengths of the unmanned aerial vehicle waypoint files are consistent or not, and if not, feeding back information to an operator for modification;
reading a waypoint file of the unmanned aerial vehicle, inputting maximum speed limit, carrying out overspeed detection on waypoints, and feeding back overspeed information;
if the overspeed information fed back by the overspeed detection is not empty, the waypoint has overspeed, and the waypoint is automatically calculated according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing;
automatically detecting an accelerating waypoint interval, automatically calculating according to an automatic speed-up algorithm, and generating a speed-up waypoint;
generating an accelerated waypoint file meeting the conditions to the unmanned aerial vehicle;
the method for generating waypoints and speeding up the waypoints by animation software is used for carrying out deceleration processing on overspeed waypoints: in each period between the waypoints of the unmanned aerial vehicle, calculating the maximum displacement allowed in each period between the waypoints according to the input maximum speed limit, then calculating the number n of waypoints needing to be increased in the overspeed interval after deceleration according to the input overspeed information and the maximum displacement amplitude of drinking in the overspeed period, and then performing linear interpolation in the interval according to a linear interpolation method to generate the waypoints, wherein the interpolation waypoint calculation formula is as follows:
wherein i represents the overspeed cycle number, X, Y and Z are respectively represented as the original waypoint coordinate values of the unmanned aerial vehicle,
respectively representing the coordinates of the aircraft waypoints after linear interpolation, and k represents the interpolated waypoint number in the interval;
the method for accelerating the navigation points generated by the animation software carries out automatic partition and automatic acceleration processing on the navigation points, automatically divides n adjacent navigation points into an acceleration interval, and automatically divides the navigation points m in the partition 1 And m n Reserve, to waypoint m 2 ,…,m n-1 Interpolation processing is carried out to obtain navigation point m 'through interpolation' 1 ,…,m' n-3 The accelerated interval after acceleration is from a waypoint m 1 ，m n And m' 1 ,…,m' n-3 Composition is carried out; and carrying out speed detection on the accelerated section: if not, replacing the waypoint m before acceleration by the interval waypoint after acceleration 1 ,…,m n The interval of composition; if the section is overspeed after acceleration, the original waypoint member of the section, namely waypoint m, is reserved 1 ,…,m n Abandon waypoint m' 1 ,…,m' n-3 。
4. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
inputting an original unmanned aerial vehicle waypoint file into a system, comparing whether the lengths of the unmanned aerial vehicle waypoint files are consistent or not, and if not, feeding back information to an operator for modification;
reading a waypoint file of the unmanned aerial vehicle, inputting a maximum speed limit, carrying out overspeed detection on the waypoint, and feeding back overspeed information;
if the overspeed information fed back by the overspeed detection is not empty, the waypoint has overspeed, and the waypoint is automatically calculated according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing;
automatically detecting an accelerating waypoint interval, automatically calculating according to an automatic speed-up algorithm, and generating a speed-up waypoint;
generating an accelerated waypoint file meeting the conditions to the unmanned aerial vehicle;
an animation software generation waypoint speed-up method carries out speed reduction treatment on overspeed waypoints: in each period between the waypoints of the unmanned aerial vehicle, calculating the maximum displacement allowed in each period between the waypoints according to the input maximum speed limit, then calculating the number n of waypoints needing to be increased in the overspeed interval after deceleration according to the input overspeed information and the maximum displacement amplitude of drinking in the overspeed period, and then performing linear interpolation in the interval according to a linear interpolation method to generate the waypoints, wherein the interpolation waypoint calculation formula is as follows:
wherein i represents the number of the overspeed cycle, X, Y and Z respectively represent the original waypoint coordinate values of the unmanned aerial vehicle,
respectively representing the coordinates of the aircraft waypoints after linear interpolation, and k represents the interpolated waypoint number in the interval;
the method for accelerating the navigation points generated by the animation software carries out automatic partition and automatic acceleration processing on the navigation points, automatically divides n adjacent navigation points into an acceleration interval, and automatically divides the navigation points m in the partition 1 And m n Reserve, to waypoint m 2 ,…,m n-1 Interpolation processing is carried out to obtain navigation point m 'through interpolation' 1 ,…,m' n-3 The accelerated interval after acceleration is from a waypoint m 1 ，m n And m' 1 ,…,m' n-3 Forming; and speed detection is carried out on the accelerated interval: if not, replacing the waypoint m before acceleration by the interval waypoint after acceleration 1 ,…,m n The interval of composition; if the section is overspeed after acceleration, the original waypoint member of the section, namely waypoint m, is reserved 1 ,…,m n Abandon waypoint m' 1 ,…,m' n-3 。
5. An animation software-generated waypoint acceleration system for implementing the animation software-generated waypoint acceleration method as defined in any one of claims 1 to 2, wherein the animation software-generated waypoint acceleration system comprises:
the unmanned aerial vehicle waypoint file input module is used for inputting an original unmanned aerial vehicle waypoint file into the system;
the waypoint speed detection module is used for reading the waypoint file of the unmanned aerial vehicle, inputting the maximum speed limit, carrying out overspeed detection on the waypoints and feeding back overspeed information;
the automatic waypoint calculation module is used for realizing that overspeed information fed back by overspeed detection is not empty, and automatically calculating the waypoint according to the obtained overspeed information to obtain the waypoint after corresponding deceleration processing if the waypoint has overspeed;
the speed-up waypoint generating module is used for automatically detecting the interval of the speed-up waypoints, automatically calculating according to an automatic speed-up algorithm and generating the speed-up waypoints;
and the waypoint file sending module is used for generating the speed-up waypoint file meeting the conditions and sending the speed-up waypoint file to the unmanned aerial vehicle.
6. A drone characterized in that it is equipped with an animation software-generated waypoint acceleration system as claimed in claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010974097.1A CN112161625B (en) | 2020-09-16 | 2020-09-16 | Animation software generation waypoint speed increasing method and system, computer equipment and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010974097.1A CN112161625B (en) | 2020-09-16 | 2020-09-16 | Animation software generation waypoint speed increasing method and system, computer equipment and unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112161625A CN112161625A (en) | 2021-01-01 |
| CN112161625B true CN112161625B (en) | 2022-09-06 |
Family
ID=73857987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010974097.1A Active CN112161625B (en) | 2020-09-16 | 2020-09-16 | Animation software generation waypoint speed increasing method and system, computer equipment and unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112161625B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108181927A (en) * | 2018-03-14 | 2018-06-19 | 广州亿航智能技术有限公司 | Unmanned plane, which is formed into columns, performs the method, apparatus and storage medium of control |
| CN108303992A (en) * | 2018-01-17 | 2018-07-20 | 西安九天无限智能科技有限公司 | A kind of novel unmanned plane route planning method |
| CN108398958A (en) * | 2018-03-14 | 2018-08-14 | 广州亿航智能技术有限公司 | Unmanned plane formation route matching method, apparatus and storage medium |
| CN108445902A (en) * | 2018-03-14 | 2018-08-24 | 广州亿航智能技术有限公司 | Unmanned plane formation control method, device and system |
| CN108508911A (en) * | 2018-03-14 | 2018-09-07 | 广州亿航智能技术有限公司 | UAV Formation Flight control method and unmanned plane |
| WO2018195968A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳市大疆创新科技有限公司 | Terminal device and control method therefor, unmanned aerial vehicle, control method therefor and control device |
| CN108762299A (en) * | 2018-05-30 | 2018-11-06 | 上海交通大学 | A kind of unmanned plane formation method and fleet system |
| CN108958285A (en) * | 2018-07-17 | 2018-12-07 | 北京理工大学 | It is a kind of that path planning method is cooperateed with based on the efficient multiple no-manned plane for decomposing thought |
| CN109901621A (en) * | 2019-04-01 | 2019-06-18 | 西安因诺航空科技有限公司 | A kind of the batch unmanned plane close/intra system and formation method of desired guiding trajectory |
| CN110209198A (en) * | 2019-06-28 | 2019-09-06 | 中国电子科技集团公司第二十七研究所 | A kind of unmanned plane cluster formation flight ground real-time control method and control device |
-
2020
- 2020-09-16 CN CN202010974097.1A patent/CN112161625B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018195968A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳市大疆创新科技有限公司 | Terminal device and control method therefor, unmanned aerial vehicle, control method therefor and control device |
| CN108303992A (en) * | 2018-01-17 | 2018-07-20 | 西安九天无限智能科技有限公司 | A kind of novel unmanned plane route planning method |
| CN108181927A (en) * | 2018-03-14 | 2018-06-19 | 广州亿航智能技术有限公司 | Unmanned plane, which is formed into columns, performs the method, apparatus and storage medium of control |
| CN108398958A (en) * | 2018-03-14 | 2018-08-14 | 广州亿航智能技术有限公司 | Unmanned plane formation route matching method, apparatus and storage medium |
| CN108445902A (en) * | 2018-03-14 | 2018-08-24 | 广州亿航智能技术有限公司 | Unmanned plane formation control method, device and system |
| CN108508911A (en) * | 2018-03-14 | 2018-09-07 | 广州亿航智能技术有限公司 | UAV Formation Flight control method and unmanned plane |
| CN108762299A (en) * | 2018-05-30 | 2018-11-06 | 上海交通大学 | A kind of unmanned plane formation method and fleet system |
| CN108958285A (en) * | 2018-07-17 | 2018-12-07 | 北京理工大学 | It is a kind of that path planning method is cooperateed with based on the efficient multiple no-manned plane for decomposing thought |
| CN109901621A (en) * | 2019-04-01 | 2019-06-18 | 西安因诺航空科技有限公司 | A kind of the batch unmanned plane close/intra system and formation method of desired guiding trajectory |
| CN110209198A (en) * | 2019-06-28 | 2019-09-06 | 中国电子科技集团公司第二十七研究所 | A kind of unmanned plane cluster formation flight ground real-time control method and control device |
Non-Patent Citations (2)
| Title |
|---|
| 基于改进蚁群算法的无人机航路规划软件开发;杨帆等;《现代制造技术与装备》;20200815;第56卷(第08期);第98-100页 * |
| 无人机航线规划系统的改进设计与实现;凌诗佳;《现代电子技术》;20170115;第40卷(第02期);第107-110+114页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112161625A (en) | 2021-01-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11396312B2 (en) | Train overspeed protection method and apparatus | |
| CN113219962B (en) | Control method and system for hybrid queue following safety and storage medium | |
| CN108984862B (en) | Pneumatic characteristic CFD calculation result correction method | |
| US10678740B1 (en) | Coordinated component interface control framework | |
| US20190389474A1 (en) | Method and apparatus for acquiring control amount for performance test of unmanned vehicle | |
| Zhang et al. | A new car-following model considering driving characteristics and preceding vehicle’s acceleration | |
| CN111474949B (en) | Unmanned aerial vehicle cluster flight feasible path track planning method, unmanned aerial vehicle cluster and medium | |
| CN109739230A (en) | Driving locus generation method, device and storage medium | |
| KR20190068261A (en) | Design method of attitude control system for flight vehicle and computer program | |
| CN114137509A (en) | Point cloud clustering method and device based on millimeter wave radar | |
| US20230100552A1 (en) | Branch and bound sorting for scheduling task execution in computing systems | |
| US20200159570A1 (en) | Executable Component Interface and Controller | |
| CN112161625B (en) | Animation software generation waypoint speed increasing method and system, computer equipment and unmanned aerial vehicle | |
| JP2018129028A (en) | Information processing apparatus, information processing method, and program | |
| CN112035995A (en) | Nonstructural grid tidal current numerical simulation method based on GPU (graphics processing Unit) computing technology | |
| CN103700137A (en) | Space-time related hierachical shielding removal method | |
| CN112380786B (en) | Air rudder thermal environment modeling method, equipment and storage medium | |
| CN109782758A (en) | For the bend speed calculation method of automatic driving vehicle, control method and device | |
| CN111098842B (en) | Vehicle speed control method and related equipment | |
| CN115469679A (en) | Unmanned aerial vehicle flight state parameter prediction method and system | |
| KR101137200B1 (en) | Apparatus for Displaying Result of Traffic Flow Simulation and System for Simulating Traffic Flow Comprising That Apparatus | |
| CN111402637B (en) | Conflict-free track planning method, device and system based on reachable time-space domain | |
| CN114324975A (en) | Wind direction determination method, device, equipment and medium | |
| EP3884380A2 (en) | Coordinated component interface control framework | |
| CN110262536B (en) | Longitudinal control flight energy management method and system of unpowered aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |