CN112584349A - Formation multi-set dance step flight switching method, system, storage medium and terminal - Google Patents
Formation multi-set dance step flight switching method, system, storage medium and terminal Download PDFInfo
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- CN112584349A CN112584349A CN202011361906.8A CN202011361906A CN112584349A CN 112584349 A CN112584349 A CN 112584349A CN 202011361906 A CN202011361906 A CN 202011361906A CN 112584349 A CN112584349 A CN 112584349A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses a formation multi-set dance step flight switching method, a system, a storage medium and a terminal, wherein an aircraft sends dance step information being executed to a ground station in real time, and the ground station records the dance step information in real time; the ground station sends dance step animation switching instruction information, and the flight control end receives the instruction and returns the instruction information for confirming the dance step animation switching to the ground station end; after the aircraft receives the instruction, the aircraft waits for the current animation execution of the current dance step to be finished, reads the corresponding dance step animation switching track from the storage module, and switches to the animation to be executed in the next dance step. The switching instruction of the dance step animation needs to be real-time; the switching logic is accurate and reliable; the animation switching track is accurate. Because the number of the aircrafts for one formation performance can reach thousands, the real-time communication between the ground station end and each aircraft end is ensured during flight performance, and communication congestion is prevented.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a formation multi-set dance step flight switching method, a formation multi-set dance step flight switching system, a storage medium and a terminal.
Background
At present, in the conventional formation performance, the whole dance step is fixed from take-off to landing, and the switching between animations cannot be realized in the midway. In order to enhance the appreciation, a plurality of sets of dance steps may be required in a cluster performance, each set of dance step has a plurality of animations, random switching among the plurality of sets of dance step animations may be required according to the temporary demand on the scene, and a complete set of switching logic is required at this time. Because the performance is a cluster performance, the number of the performance is as few as hundreds, and the number of the performance is more than thousands, the technology is still in a starting research state at home and abroad in consideration of factors of communication, animation switching points, switching logics and switching routes.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) in the prior art, the logic accuracy of animation switching instructions is unreliable; the animation switching trajectory is not accurate.
(2) In the prior art, during flight performance, real-time communication between a ground station end and each aircraft end cannot be guaranteed, and communication congestion cannot be prevented.
(3) In the prior art, the storage space of the switching track between animations is too large, and the cost is easily wasted.
The difficulty in solving the above problems and defects is:
first, there are multiple sets of dance steps, each with multiple animations, as time of flight allows, so the more switching routes between animations. The more dance steps and the more animation, the more the switching route is multiplied, so that the switching route is reasonably stored in a storage space with a fixed size. Secondly, the switching points and the switching routes need to be precise, and the intersection of the routes cannot be caused. Finally, the switching command is real-time, which requires real-time communication between the ground station and the aircraft, and no interruption or congestion of communication can occur.
The significance of solving the problems and the defects is as follows:
in the cluster performance, multiple sets of dance animation can be switched at will, so that monotonicity of traditional single dance steps is solved to a certain extent, and the ornamental performance is very high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a formation multi-set dance step flight switching method, a formation multi-set dance step flight switching system, a storage medium and a terminal.
The invention is realized in such a way that a formation multi-set dance step flight switching method comprises the following steps:
the aircraft sends the executing dance step information to the ground station in real time, and the ground station records the dance step information in real time;
the ground station sends dance step animation switching instruction information, and the flight control end receives the instruction and returns the instruction information for confirming the dance step animation switching to the ground station end;
and after the aircraft receives the instruction, waiting for the completion of the execution of the current animation of the current dance step, reading the corresponding dance step animation switching track from the storage module, and switching to the animation to be executed in the next dance step.
Further, the dance step information includes: number of dance steps being executed, number of animation being executed;
the dance step animation switching instruction information comprises: the number of dance steps being executed, the number of animation being executed, the number of dance steps to be switched to, and the number of animation to be switched to.
Further, the dance animation switching comprises:
(1) determining basic information of each set of dance steps, wherein the first set of dance steps comprises total _1 waypoints and M animations; the second set has total _2 waypoints and N animations; in the same way, the nth cover has total _ n waypoints and L animations; after the first set of dance steps is executed MjAfter the animation, switching to any animation of the ith (i is equal to 1-n, and i is equal to 1) dance steps according to requirements; similarly, when any animation of the dance step in the ith set is executed, any animation of the rest dance steps is switched to.
Further, the method for storing the dance animation switching track by the storage module comprises the following steps:
before taking off, the dance step information and the switching track are uploaded to a flight control end from a ground station end through a ground station instruction, and are stored in a storage module FLASH of the flight control in different areas, wherein the storage module FLASH comprises basic dance step information and a path switching track of animation,
another object of the present invention is to provide a formation multi-set dance step flight switching system, comprising:
the dance step animation switching module is used for switching any animation of dance steps to any animation state of other dance steps when executing the dance steps;
a storage module for storing the dance animation switching track
The dance animation switching control module is used for the aircraft to send dance information being executed to the ground station in real time, and the ground station records the dance information in real time; the ground station sends dance step animation switching instruction information, and the flight control end receives the instruction and returns the instruction information for confirming the dance step animation switching to the ground station end; after the aircraft receives the instruction, the aircraft waits for the current animation execution of the current dance step to be finished, reads the corresponding dance step animation switching track from the storage module, and switches to the animation to be executed in the next dance step.
Another object of the present invention is to provide an aircraft for real-time said formation multi-stage flight switching method.
It is another object of the present invention to provide a program storage medium for receiving user input, the stored computer program causing an electronic device to execute the method for team flight switching between multiple sets of dance steps of any one of the preceding claims:
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 method of formation for multi-set dance-step flight switching.
The invention also aims to provide an information data processing terminal which is used for realizing the formation multi-set dance step flight switching method.
The invention also aims to provide application of the formation multi-set dance step flight switching method in commercial performances and public welfare activity performances.
By combining all the technical schemes, the invention has the advantages and positive effects that:
the switching instructions among the dance animation are real-time; the switching logic is accurate and reliable; the animation switching track is accurate.
Because the number of the aircrafts for one formation performance can reach thousands, the real-time communication between the ground station end and each aircraft end is ensured during flight performance, and communication congestion is prevented.
When the number of dance steps is increased by one, the switching track between animations is multiplied, and the storage module FLASH with the appropriate storage space is selected, so that the problem that the storage space resources are insufficient or wasted is prevented.
For the switching of the dance animation, the switching is started after the current dance animation is executed, the switching time is short, the animation and the dance animation are perfectly connected, and the audience does not pause in the midway visually. Therefore, accurate and quick switching not only forms a good visual effect for audiences, but also greatly increases the air-leaving time of the aircraft.
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 schematic diagram of animation switching according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of FLASH storage information of an aircraft provided in an embodiment of the present invention.
Fig. 3 is a schematic diagram of instruction logic of the ground station and the flight control end according to an embodiment of the present invention.
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 formation multi-set dance step flight switching method, and the invention is described in detail below with reference to the attached drawings.
The invention provides a formation multi-set dance step flight switching method, which comprises the following steps:
(1) dance step switching logic
As shown in fig. 1, assume a total of n dance steps. Firstly, determining basic information of each set of dance steps, wherein the first set of dance steps comprises total _1 waypoints and M animations; the second set has total _2 waypoints and N animations; by analogy, the nth cover has total _ n waypoints and L animations. After the first set of dance steps is executed MjAfter the animation, switching to any animation of the ith (i is equal to 1 to n, and i is equal to 1) dance steps according to requirements; similarly, when any animation of the ith dance step is executed, any animation of the other dance steps can be switched to.
The multi-set dance step switching is realized, and the aim is to smoothly switch to any animation of the rest dance steps after any animation of the ith dance step is executed. The switching process is actually a path design, which is designed before the flight. For example, the first set of dance steps has M animations, the second set of dance steps has N animations, and M × N path tracks need to be designed when the first set of dance steps is switched to the second set of dance steps; and switching from the first set of dance steps to the ith (i is 1-n, and i is not equal to 1) set of dance steps, and so on. Therefore, the more the number of dance steps and the number of animations are, the more switching trajectories need to be designed.
(2) Dance step storage
The dance step information and the switching track are designed by special software before formation and performance, and the simulation is completed. Before taking off, the information is uploaded to the flight control terminal from the ground station terminal through a ground station instruction, and is stored in the storage module FLASH of the flight control in different areas, including basic information of dance steps and a path switching track of animation, as shown in fig. 2. Due to the limitation of the space size of the storage module, the space is reasonably distributed according to the number of dance steps and the number of animations.
(3) Dance step switching implementation
The switching of the dance steps is carried out in the performance process, the switching instruction of the dance step animation is controlled by the ground station, the ground station end and the aircraft end mainly realize communication by Wifi or 4G, and the instruction control steps are as follows:
in the process of dance flight, the aircraft sends dance step information which is being executed to the ground station in real time, and the dance step information comprises: the number of dance steps being performed, the number of animation being performed, and the ground station records this information in real time.
The ground station sends dance animation switching instruction information, and the information comprises: the number of dance steps being executed, the number of animation being executed, the number of dance steps to be switched to, and the number of animation to be switched to. The flight control end receives the instruction and returns confirmation information to the ground station end.
After the aircraft receives the instruction, the aircraft waits for the current animation execution of the current dance step to be finished, reads the corresponding dance step animation switching track from the storage module, and switches to the animation to be executed in the next dance step. As shown in fig. 3.
The present invention is further described below with reference to specific application examples.
Application example
Such as ground station software, to switch dance animations as needed. Clicking a 'dance step switching' button at the lower left corner of the ground station, popping up a dialog box at the moment, filling a few animations for switching to a few sets of dance steps, and then clicking a 'determination' button. At the moment, all aircrafts receive the switching information and reply to the ground station to receive the switching instruction, wait for the animation execution of the current dance step to be completed, and then automatically read the switching track in the storage space to execute the switched animation.
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 only for convenience in describing and simplifying 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 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. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention 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, etc., or by software executed by various types of processors, or by 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 (10)
1. A formation multi-set dance step flight switching method is characterized by comprising the following steps:
the aircraft sends the executing dance step information to the ground station in real time, and the ground station records the dance step information in real time;
the ground station sends dance step animation switching instruction information, and the flight control end receives the instruction and returns the instruction information for confirming the dance step animation switching to the ground station end;
and after the aircraft receives the instruction, waiting for the completion of the execution of the current animation of the current dance step, reading the corresponding dance step animation switching track from the storage module, and switching to the animation to be executed in the next dance step.
2. The formation multi-set dance step flight switching method according to claim 1, wherein the dance step information includes: number of dance steps being executed, number of animation being executed;
the dance step animation switching instruction information comprises: the number of dance steps being executed, the number of animation being executed, the number of dance steps to be switched to, and the number of animation to be switched to.
3. The formation multi-set dance step flight switching method according to claim 1, wherein the dance step animation switching comprises:
(1) determining basic information of each set of dance steps, wherein the first set of dance steps comprises total _1 waypoints and M animations; the second set has total _2 waypoints and N animations; in the same way, the nth cover has total _ n waypoints and L animations; after the first set of dance steps is executed MjAfter the animation, switching to any animation of the ith (i is equal to 1-n, and i is equal to 1) dance steps according to requirements; similarly, when any animation of the dance step in the ith set is executed, any animation of the rest dance steps is switched to.
4. The method for multi-stage flying hand-off in formation according to claim 1, wherein the method for storing the stage animation hand-off track in the storage module comprises the following steps:
before taking off, the dance step information and the switching track are uploaded to a flight control end from a ground station end through a ground station instruction, and are stored in a storage module FLASH of the flight control in a regional mode, wherein the storage module FLASH comprises basic dance step information and a path switching track of animation.
5. The utility model provides a many sets of dance step flight switching system of formation which characterized in that, many sets of dance step flight switching system of formation includes:
the dance step animation switching module is used for switching any animation of dance steps to any animation state of other dance steps when executing the dance steps;
a storage module for storing the dance animation switching track
The dance animation switching control module is used for the aircraft to send dance information being executed to the ground station in real time, and the ground station records the dance information in real time; the ground station sends dance step animation switching instruction information, and the flight control end receives the instruction and returns the instruction information for confirming the dance step animation switching to the ground station end; after the aircraft receives the instruction, the aircraft waits for the current animation execution of the current dance step to be finished, reads the corresponding dance step animation switching track from the storage module, and switches to the animation to be executed in the next dance step.
6. An aircraft, characterized in that the aircraft is used for the formation multi-stage flying switching method of any one of claims 1-4 in real time.
7. A program storage medium for receiving user input, the stored computer program causing an electronic device to perform the method of formation multi-stage flight switching of any one of claims 1 to 4.
8. A computer arrangement, characterized in that the computer arrangement 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 method of formation multi-stage flight switching of claims 1-4.
9. An information data processing terminal, characterized in that the information data processing terminal is used for realizing the formation multi-set dance step flight switching method of any one of claims 1 to 4.
10. Use of the multi-set dance fly switching method of any one of claims 1 to 4 in commercial performances and public welfare activity performances.
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| CN113268082A (en) * | 2021-06-03 | 2021-08-17 | 一飞(海南)科技有限公司 | Method and system for fast downloading, storing and acquiring dance step waypoints in formation of unmanned aerial vehicles |
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Application publication date: 20210330 |