CN112566335B - Unmanned aerial vehicle formation streamer lighting effect realization method, system and unmanned aerial vehicle formation - Google Patents
Unmanned aerial vehicle formation streamer lighting effect realization method, system and unmanned aerial vehicle formation Download PDFInfo
- Publication number
- CN112566335B CN112566335B CN202011163633.6A CN202011163633A CN112566335B CN 112566335 B CN112566335 B CN 112566335B CN 202011163633 A CN202011163633 A CN 202011163633A CN 112566335 B CN112566335 B CN 112566335B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- formation
- vehicle formation
- streamer
- 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
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 107
- 230000000694 effects Effects 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004590 computer program Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims 1
- 230000001795 light effect Effects 0.000 abstract description 14
- 230000000007 visual effect Effects 0.000 abstract description 7
- 230000006978 adaptation Effects 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000005755 formation reaction Methods 0.000 description 70
- 239000003086 colorant Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004040 coloring Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/165—Controlling the light source following a pre-assigned programmed sequence; Logic control [LC]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Illuminated Signs And Luminous Advertising (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
The invention belongs to the technical field of streamer lamp effect realization, and discloses a method and a system for realizing streamer lamp effect of unmanned aerial vehicle formation, and an unmanned aerial vehicle formation, wherein the formation and the path of the unmanned aerial vehicle formation are input to the system; analyzing the formation position of the unmanned aerial vehicle formation, calculating the size and physical boundary parameters, and obtaining and recording the boundary in the whole path; setting parameters of color, angle, speed and width of streamer; according to the parameter measurement result and the selected light effect parameter, calculating the light effect color of each unmanned aerial vehicle in formation by an automatic adaptation algorithm; and storing the calculated result for display and performance. According to the invention, by utilizing a specific algorithm and parameters, the operation and generation of the streaming lighting effect of the unmanned aerial vehicle formation are realized according to the spatial position, formation size and movement characteristics of the unmanned aerial vehicle formation; the method has the characteristics of easiness in implementation, one-key generation, good visual effect and the like, the efficiency of lamplight design and manufacture of unmanned aerial vehicle performance and the visual artistic effect of performance scene are effectively improved, and manual intervention is not needed.
Description
Technical Field
The invention belongs to the technical field of streamer lamp effect realization, and particularly relates to a method and a system for realizing streamer lamp effect of unmanned aerial vehicle formation and unmanned aerial vehicle formation.
Background
At present, the realization of the lighting effect in the existing unmanned aerial vehicle formation light show is complex, and according to actual demands, the streamer lighting effect is one of the most widely applied effects, so that the realization of an automatic method for the unmanned aerial vehicle formation lighting effect is very important.
Through the above analysis, the problems and defects existing in the prior art are as follows: the streamer effect in the existing unmanned aerial vehicle formation light show is complex to realize, relies on technicians to manually draw by using modeling software, has low efficiency and poor multiplexing rate, and lacks an automatic method.
The difficulty of solving the problems and the defects is as follows: specific algorithms are needed to be realized to adapt to the streaming lighting effects of various formations, and the algorithm difficulty is high.
The meaning of solving the problems and the defects is as follows: can realize unmanned aerial vehicle formation stream light effect's automatic generation, efficient, visual effect is good.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a system for realizing the streamer lighting effect of unmanned aerial vehicle formation and unmanned aerial vehicle formation.
The invention discloses a method for realizing the formation streamer effect of an unmanned aerial vehicle, which comprises the following steps:
step one, carrying out detailed analysis on formations and paths of unmanned aerial vehicle formation input by a system, wherein the formations and paths comprise the number i of unmanned aerial vehicles, the space position x, y, z and the flight time frame number t of each unmanned aerial vehicle in a three-dimensional coordinate system.
Analyzing the formation position of the unmanned aerial vehicle formation, calculating the size and physical boundary parameters to obtain and record the boundary X in the whole path max ,X min ,Y max ,Y min ,Z max ,Z min 。
Step three, setting a color queue C of streamer 1 (R 1 ,G 1 ,B 1 ),C 2 (R 2 ,G 2 ,B 2 )…C n (R n ,G n ,B n ) Angle r, velocity v, width parameter l.
And step four, calculating the lamp effect color of each unmanned aerial vehicle in formation according to the parameter measurement result in the step two and the lamp effect parameter selected in the step three by an automatic adaptation algorithm.
And fifthly, storing the calculated result for display and performance.
In the second step, the formation position of the unmanned aerial vehicle formation is analyzed, the size and physical boundary parameters are calculated, and the boundary X in the whole path is obtained and recorded max ,X min ,Y max ,Y min ,Z max ,Z min Comprises the following steps:
the method has the advantages that the specific size and the boundary position of each frame of performance picture in space can be calculated in real time so as to dynamically match the generation and display positions of the light effect and achieve good visual effect.
Further, in the second step, the method for calculating the size of the unmanned aerial vehicle formation path includes:
further, in the fourth step, the method for calculating the light effect color of each unmanned aerial vehicle in the formation includes:
input color C 1 ,C 2 The moving direction r, the width l and the moving speed v of the streamer are input. Calculating the position of each unmanned aerial vehicle in the unmanned aerial vehicle formation in the direction r, the distance boundary, the streamer position of the distance and the distance proportion k between the streamer position and the edges of the two sides of the streamer in the direction in sequence:
the color C of the unmanned aerial vehicle is:
C＝k*C 1 +(1-k)*C 2 ；
after the lamp effect colors of all unmanned aerial vehicles in the formation are calculated in sequence, the streamer lamp effect of the unmanned aerial vehicle formation is realized.
It is a further object of the present 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 formation and path of unmanned aerial vehicle formation into a system, wherein the formation and path comprises the number i of unmanned aerial vehicles, the space position x, y, z and the flight time frame number t of each unmanned aerial vehicle in a three-dimensional coordinate system;
analyzing the formation position of unmanned aerial vehicle formation, calculating the size and physical boundary parameters to obtain and record the boundary X in the whole path max ,X min ,Y max ,Y min ,Z max ,Z min ；
Setting parameters of color, angle, speed and width of streamer;
according to the parameter measurement result and the selected light effect parameter, calculating the light effect color of each unmanned aerial vehicle in formation by an automatic adaptation algorithm;
and storing the calculated result for display and performance.
Another object of the present invention is 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 formation and path of unmanned aerial vehicle formation into a system, wherein the formation and path comprises the number i of unmanned aerial vehicles, the space position x, y, z and the flight time frame number t of each unmanned aerial vehicle in a three-dimensional coordinate system;
analyzing the formation position of unmanned aerial vehicle formation, calculating the size and physical boundary parameters to obtain and record the boundary X in the whole path max ,X min ,Y max ,Y min ,Z max ,Z min ；
Setting parameters of color, angle, speed and width of streamer;
according to the parameter measurement result and the selected light effect parameter, calculating the light effect color of each unmanned aerial vehicle in formation by an automatic adaptation algorithm;
and storing the calculated result for display and performance.
The invention further aims to provide an unmanned aerial vehicle for implementing the unmanned aerial vehicle formation streamer lighting effect implementation method.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the unmanned aerial vehicle formation streamer lamp effect implementation method, the unmanned aerial vehicle formation streamer lamp effect is calculated and generated according to the spatial position, the formation size and the movement characteristics of the unmanned aerial vehicle formation by utilizing a specific algorithm and parameters.
The method is suitable for editing and calculating the lamplight effect of the unmanned aerial vehicle formation after the unmanned aerial vehicle formation performance path is edited and confirmed. The invention has the characteristics of easy realization, one-key generation, good visual effect and the like, and effectively improves the efficiency of lamplight design and manufacture of unmanned aerial vehicle performance and the visual artistic effect of performance scene.
The invention forms a certain formation and pattern in the air by using a plurality of unmanned aerial vehicle formations, and displays a certain light effect by using the carried light display equipment, thereby achieving a certain ornamental and artistic effect.
According to the invention, the positions and boundaries of the unmanned aerial vehicle formation can be automatically analyzed to realize automatic position matching and parameter adjustment, the formation flow light effect coloring effect can be realized, the light effect of various unmanned aerial vehicle formation light shows can be realized, and the visual effect is improved.
The invention can automatically generate the required unmanned aerial vehicle formation performance light effect in the whole process, and automatically colors and stores the unmanned aerial vehicle formation performance light effect without manual intervention. The effect of the streamer lamp effect under different angles is as shown in fig. 4 (a) -4 (c).
Drawings
Fig. 1 is a flowchart of a method for implementing a stream lighting effect of an unmanned aerial vehicle formation according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a method for implementing a streaming lighting effect of unmanned aerial vehicle formation according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a streamer effect implementation effect of unmanned aerial vehicle formation provided by the embodiment of the invention.
FIG. 4 is a graph of the effect of realizing the streamer lamp effect at different angles according to the embodiment of the invention; wherein, as shown in fig. 4 (a) -4 (c), the streamer effect at angles of 45 deg. and 180 deg. are shown, respectively.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Aiming at the problems existing in the prior art, the invention provides a method and a system for realizing the streamer effect of unmanned aerial vehicle formation, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for implementing the streaming lighting effect of the unmanned aerial vehicle formation provided by the embodiment of the invention comprises the following steps:
s101, inputting formation and paths of unmanned aerial vehicle formation into a system, wherein the formation and paths comprise the number i of unmanned aerial vehicles, the space position x, y, z and the flight time frame number t of each unmanned aerial vehicle in a three-dimensional coordinate system.
S102, analyzing and counting the formation positions of unmanned aerial vehicle formationCalculating size and physical boundary parameters to obtain and record boundary X in whole path max ,X min ,Y max ,Y min ,Z max ,Z min 。
S103, setting parameters of the color, angle, speed and width of streamer.
S104, calculating the lamp effect color of each unmanned aerial vehicle in the formation according to the parameter measurement result in S102 and the lamp effect parameter selected in S103 by an automatic adaptation algorithm.
And S105, storing the calculated result for display and performance.
The schematic diagram of the method for realizing the streamer effect of the unmanned aerial vehicle formation provided by the embodiment of the invention is shown in fig. 2.
The invention is further described below with reference to examples.
Examples
The embodiment of the invention provides a streamer lamp effect implementation method for unmanned aerial vehicle formation, which can automatically search the boundary of an unmanned aerial vehicle formation path. The formula is as follows:
the invention provides a streamer effect implementation method for unmanned aerial vehicle formation, which can automatically calculate the size of an unmanned aerial vehicle formation path. The formula is as follows:
the invention provides a streamer effect implementation method for unmanned aerial vehicle formation, which comprises the following steps that streamer effects can be automatically set for unmanned aerial vehicle formation:
input color C 1 ,C 2 The moving direction r, the width l and the moving speed v of the streamer are input. And sequentially calculating the position of each unmanned aerial vehicle in the direction r, the boundary distance, the streamer position of the distance and the distance proportion k between the streamer position and the edges of the two sides of the streamer in the direction.
The color C of the unmanned aerial vehicle is:
C＝k*C 1 +(1-k)*C 2 。
after the lamp effect colors of all unmanned aerial vehicles in formation are calculated in sequence, the streamer lamp effect of the unmanned aerial vehicle formation is realized, and the effect is shown in figure 3. Fig. 4 (a) -4 (c) show the streamer effect at 45 ° and 180 °, respectively.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (8)
1. The unmanned aerial vehicle formation streamer lamp effect implementation method is characterized by comprising the following steps of: inputting formation and path of unmanned aerial vehicle formation into a system, wherein the formation and path comprises the number i of unmanned aerial vehicles, the space position x, y, z and the flight time frame number t of each unmanned aerial vehicle in a three-dimensional coordinate system; analyzing the formation position of the unmanned aerial vehicle formation, calculating the size and physical boundary parameters to obtain and record the boundary in the whole path
2. The unmanned aerial vehicle formation streamer effect implementation method according to claim 1, wherein the unmanned aerial vehicle formation path size calculation method is as follows:
3. an unmanned aerial vehicle formation streamer lighting effect implementation system for implementing the unmanned aerial vehicle formation streamer lighting effect implementation method according to any one of claims 1-2.
4. 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 formation and path of unmanned aerial vehicle formation into a system, wherein the formation and path comprises the number i of unmanned aerial vehicles, the space position x, y, z and the flight time frame number t of each unmanned aerial vehicle in a three-dimensional coordinate system; analyzing the formation position of the unmanned aerial vehicle formation, calculating the size and physical boundary parameters to obtain and record the boundary in the whole path
5. A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of: inputting formation and path of unmanned aerial vehicle formation into a system, wherein the formation and path comprises the number i of unmanned aerial vehicles, the space position x, y, z and the flight time frame number t of each unmanned aerial vehicle in a three-dimensional coordinate system; analyzing the formation position of the unmanned aerial vehicle formation, calculating the size and physical boundary parameters to obtain and record the boundary in the whole path
6. An unmanned aerial vehicle implementing the unmanned aerial vehicle formation streamer effect implementation method of any one of claims 1-2.
7. An information data processing terminal, characterized in that the information data processing terminal is used for realizing the unmanned aerial vehicle formation streamer lamp effect realization method according to any one of claims 1-2.
8. An unmanned aerial vehicle formation light show control terminal, which is characterized in that the unmanned aerial vehicle formation light show control terminal is used for realizing the unmanned aerial vehicle formation streamer effect realization method according to any one of claims 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011163633.6A CN112566335B (en) | 2020-10-27 | 2020-10-27 | Unmanned aerial vehicle formation streamer lighting effect realization method, system and unmanned aerial vehicle formation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011163633.6A CN112566335B (en) | 2020-10-27 | 2020-10-27 | Unmanned aerial vehicle formation streamer lighting effect realization method, system and unmanned aerial vehicle formation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112566335A CN112566335A (en) | 2021-03-26 |
| CN112566335B true CN112566335B (en) | 2023-06-27 |
Family
ID=75041382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011163633.6A Active CN112566335B (en) | 2020-10-27 | 2020-10-27 | Unmanned aerial vehicle formation streamer lighting effect realization method, system and unmanned aerial vehicle formation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112566335B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115185436A (en) * | 2022-06-21 | 2022-10-14 | 北京远度互联科技有限公司 | Target object formation light information generation method and device and electronic equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108153327A (en) * | 2017-12-07 | 2018-06-12 | 浙江大学 | Formation light show system and control method outside a kind of quadrotor room |
| US10405399B1 (en) * | 2018-09-28 | 2019-09-03 | Lite-On Electronics (Guangzhou) Limited | Street light device and operation method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4056035B2 (en) * | 2002-02-15 | 2008-03-05 | 株式会社バンダイナムコゲームス | Image generation system, program, and information storage medium |
| JP2004198788A (en) * | 2002-12-19 | 2004-07-15 | Fuji Xerox Co Ltd | Image forming apparatus |
| JP2009258397A (en) * | 2008-04-17 | 2009-11-05 | Toshiba Mobile Display Co Ltd | Method of driving el display device |
| 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 |
| CN108830450A (en) * | 2018-04-28 | 2018-11-16 | 广州亿航智能技术有限公司 | Unmanned plane colony dispatching method and system |
| CN108445914B (en) * | 2018-06-06 | 2021-04-09 | 厦门大学 | Unmanned aerial vehicle formation performance system based on UWB positioning and implementation method thereof |
| CN208281852U (en) * | 2018-06-12 | 2018-12-25 | 周良勇 | A kind of aerial light show system |
| CN109379800B (en) * | 2018-09-13 | 2020-11-10 | 深圳和而泰智能控制股份有限公司 | Light emitting control method and device for light emitting diode |
-
2020
- 2020-10-27 CN CN202011163633.6A patent/CN112566335B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108153327A (en) * | 2017-12-07 | 2018-06-12 | 浙江大学 | Formation light show system and control method outside a kind of quadrotor room |
| US10405399B1 (en) * | 2018-09-28 | 2019-09-03 | Lite-On Electronics (Guangzhou) Limited | Street light device and operation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112566335A (en) | 2021-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111640173B (en) | Cloud rendering method and system for home roaming animation based on specific path | |
| CN106658023A (en) | End-to-end visual odometer and method based on deep learning | |
| CN108320334B (en) | Method for establishing three-dimensional scene roaming system based on point cloud | |
| CN104820990A (en) | Interactive-type image-cutting system | |
| CN107481292A (en) | The attitude error method of estimation and device of vehicle-mounted camera | |
| CN112327909B (en) | Mapping light effect control method and system for unmanned aerial vehicle formation and unmanned aerial vehicle | |
| US11425283B1 (en) | Blending real and virtual focus in a virtual display environment | |
| CN104103081A (en) | Virtual multi-camera target tracking video material generation method | |
| CN112566335B (en) | Unmanned aerial vehicle formation streamer lighting effect realization method, system and unmanned aerial vehicle formation | |
| CN107703936A (en) | Automatic Guided Vehicle system and dolly localization method based on convolutional neural networks | |
| CN112907573B (en) | Depth completion method based on 3D convolution | |
| US11328437B2 (en) | Method for emulating defocus of sharp rendered images | |
| CN112383993B (en) | Gradual change color light effect control method and system for unmanned aerial vehicle formation and unmanned aerial vehicle formation | |
| US11423613B2 (en) | Method for generating splines based on surface intersection constraints in a computer image generation system | |
| CN109389095B (en) | Pavement marking image recognition method and training method | |
| CN106709977B (en) | Automatic light source arrangement method based on scene night scene graph | |
| Yang et al. | Uncut aerial video via a single sketch | |
| CN117315295A (en) | BIM model similarity calculation method, system, equipment and storage medium | |
| Gebhardt et al. | Optimization-based user support for cinematographic quadrotor camera target framing | |
| Burg et al. | Real‐time Anticipation of Occlusions for Automated Camera Control in Toric Space | |
| CN115953447A (en) | Point cloud consistency constraint monocular depth estimation method for 3D target detection | |
| US9684993B2 (en) | Flight path correction in virtual scenes | |
| CN112991498A (en) | Lens animation rapid generation system and method | |
| CN111145344A (en) | Structured light measuring method for snow carving 3D reconstruction | |
| US11200732B1 (en) | Efficiently determining an absorption coefficient of a virtual volume in 3D computer graphics |
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 |