CN112666968A - Cluster performance dynamic dance step switching method, aircraft, control terminal and storage medium - Google Patents
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses a dynamic dance step switching method for cluster performance, an aircraft, a control terminal and a storage medium, wherein a dynamic dance step is inserted into a fixed dance step, and the dynamic dance step is generated by dynamic dance step generation software according to the position of a pause point of the aircraft and a target position; and then the dynamic dance steps are sent to the aircraft, and the ground station end controls instructions to execute the dynamic dance steps. The dynamic dance steps are switched mainly by inserting dynamic dance steps into fixed dance steps, and the dynamic dance steps are a set of dance steps generated by dynamic dance step generation software according to the positions of the aircraft pause points and the target positions. And then the dynamic dance steps are sent to the aircraft, and the ground station end controls instructions to execute the dynamic dance steps.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a dynamic dance step switching method for cluster performance, an aircraft, a control terminal and a storage medium.
Background
At present, along with the progress of science and technology, unmanned aerial vehicle group shows are more and more welcomed and loved, and the unmanned aerial vehicle group shows are replacing traditional fireworks to become a novel diversified media means. Many festivals and holidays activities, scenic spot propaganda, enterprise propaganda, exhibition activity propaganda all used unmanned aerial vehicle's cluster performance and gather the popularity more.
The conventional cluster performance is that the dance steps are finished before the flight, and the dance steps are stored in a storage module of the flight control end. However, in flight performance, the fixed dance step is completed from takeoff to landing, the dance step track cannot be dynamically changed, novelty is lacked, and the dance step track is relatively simplified. This block is currently open for practical use of dynamic dance insertion.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) however, in flight performance, the fixed dance step is completed from takeoff to landing, the dance step track cannot be dynamically changed, novelty is lacked, and the dance step track is relatively simplified.
(2) Generating a dynamic dance move requires acquiring the position of each aircraft's point of pause, which requires real-time communication between the aircraft and ground station terminals.
(3) The path of the dynamic dance steps generated by the software is accurate and has no cross points.
(4) The resulting dynamic dance moves up to each aircraft, which requires that the bandwidth of the aircraft-side and ground station-side communications be large enough and free of congestion.
The difficulty in solving the above problems and defects is:
inserting the dynamic dance step, the dynamic dance step needs to be generated, the position coordinates of the current pause point of all aircrafts need to be acquired for generating the dynamic dance step, at this time, communication between the aircraft end and the ground end needs to be absolutely real-time smooth, the ground station end sends a pause instruction, and the aircraft end needs to be provided with a response mechanism. Because of time, the software-generated dynamic dance does not have more simulation time, so the algorithm for generating the dynamic dance needs to be accurate without crossing points. And finally, uploading the dynamic dance steps, wherein each aircraft also needs to have a response mechanism to ensure that all the aircraft receive the dynamic dance steps.
The significance of solving the problems and the defects is as follows:
the invention provides a method capable of dynamically switching dance steps, which can dynamically switch to dance steps generated at any time while executing fixed dance steps and has stronger dynamic property.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a cluster performance dynamic dance step switching method, an aircraft, a control terminal and a storage medium.
The invention is realized in such a way, and provides a method for switching group performance dynamic dance steps, which comprises the following steps:
and inserting dynamic dance steps into the fixed dance steps. Firstly, after a certain animation of the fixed dance step is executed, the dynamic dance step needs to be inserted, the ground station end sends a pause instruction, all the aircrafts are in a pause state at the time, and the ground station end receives position coordinates of all the aircrafts when the aircrafts pause in real time. Meanwhile, a user draws a target animation in the drawing board, and receives and converts the target animation into a track diagram consisting of the aircraft, namely a target position. The dynamic dance steps are generated by dynamic dance step generation software according to the positions of the aircraft pause points and the target positions; and then the dynamic dance steps are sent to the aircraft, and the ground station end sends a 'continue execution' instruction to execute the dynamic dance steps.
Further, the method for inserting the fixed dance steps into the dynamic dance steps comprises the following steps:
inserting dynamic dance steps into the fixed dance steps, returning to the fixed dance steps after the dynamic dance steps are executed, and continuously executing the fixed dance steps;
and inserting the dynamic dance steps into the fixed dance steps, executing the dynamic dance steps until landing, and forming a complete dance step performance from the insertion point to the landing.
Further, the dynamic dance step generation includes:
when the formation is performed, a user draws animation needing to be dynamically inserted on the spot at any time and any place by hand; then, converting the animation into an unmanned aerial vehicle cluster combination diagram through trajectory generation software; the trajectory from the switch point to the target picture forms a dynamic dance move.
Further, the method for switching the group performance dynamic dance steps specifically comprises the following steps:
1) converting the hand-drawn graph into an aircraft combined graph M by track generation software;
2) sending a pause command by the ground station end to pause the currently executed dance steps;
3) generating a track path from the pause point to the combined graph M according to the position coordinates of the pause point transmitted back by each aircraft;
4) and (3) the ground station end sends the dance steps generated in the step (3) to each aircraft, and after the dance steps are successfully sent, the ground station end sends instructions for continuing to execute the dance steps and executes dynamic dance steps.
The invention also aims to provide a cluster performance dynamic dance step switching control terminal which executes the cluster performance dynamic dance step switching method.
Another object of the invention is to provide an aircraft for implementing the method for dynamic dance step switching in group performances.
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:
inserting a dynamic dance step into the fixed dance step, wherein the dynamic dance step is generated by dynamic dance step generation software according to the position of the aircraft pause point and the target position; and then the dynamic dance steps are sent to the aircraft, and the ground station end controls instructions to execute the dynamic dance steps.
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:
inserting a dynamic dance step into the fixed dance step, wherein the dynamic dance step is generated by dynamic dance step generation software according to the position of the aircraft pause point and the target position; and then the dynamic dance steps are sent to the aircraft, and the ground station end controls instructions to execute the dynamic dance steps.
Another object of the present invention is to provide an aircraft implementing the method for dynamic dance step switching in group performances, which is applied to commercial remissions and public welfare activity performances.
By combining all the technical schemes, the invention has the advantages and positive effects that:
the dynamic dance step switching provided by the invention is mainly to insert the dynamic dance step into the fixed dance step, wherein the dynamic dance step is a set of dance steps generated by dynamic dance step generation software according to the position of the aircraft pause point and the target position, and the method is simple, effective and good in real-time performance. The algorithm for generating the dynamic dance steps is fast and accurate, no simulation is needed, the time for switching the dynamic dance steps of the field cluster performance is greatly shortened, and the dynamics and the appreciation of the field dance steps are enhanced. And then the dynamic dance steps are sent to the aircraft, and the ground station end controls instructions to execute the dynamic dance steps.
The invention is finished by fixed dance steps before formation and performance, and the dance steps are stored in a storage module at the aircraft end. While the fixed dance step is executed, the client needs to change the demand, and needs to add one animation or a plurality of animations, and at this time, the insertion of the dynamic dance step is needed. The client generates the animation to be inserted, and simultaneously generates the dynamic dance step in a short time, uploads the dynamic dance step and executes the dynamic dance step. From pause to dynamic dance steps, the method can be completed in a short time, perfect connection between the fixed dance steps and the dynamic dance steps is realized, and meanwhile, the operation completed in a short time greatly increases the air-remaining time of the aircraft.
For the generation of the dynamic dance steps, the path track with the frequency of 25Hz, namely the dynamic dance steps, is generated on line by the dance step generation software from the position of the aircraft pause point to the target position. The method has the greatest characteristics of short time, high efficiency, no need of off-line simulation test and great shortening of switching time.
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 first logic diagram for dynamic dance steps insertion provided by the embodiment of the present invention.
Fig. 2 is a second logic diagram for inserting dynamic dance steps provided by the embodiment of the present invention.
Fig. 3 is a diagram of generating effects of dynamic dance steps provided by the embodiment of the present invention.
Fig. 4 is a flow chart of dynamic dance step switching 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.
In view of the problems in the prior art, the present invention provides a method for switching a cluster performance dynamic dance step, an aircraft, a control terminal and a storage medium, and the present invention is described in detail below with reference to the accompanying drawings.
The method for switching the cluster performance dynamic dance steps comprises the following steps:
(1) the dynamic dance step insertion method comprises the following steps:
the dynamic dance step insertion has two conditions, one is to insert the dynamic dance step in the fixed dance step, and the number of the dynamic dance steps can be more than one. And after the dynamic dance step is executed, returning to the fixed dance step, and continuously executing the fixed dance step. It is also possible to insert a plurality of dynamic dance steps and return a plurality of times to a fixed dance step, as shown in fig. 1.
The other method is to insert a dynamic dance step into a fixed dance step, execute the dynamic dance step until landing, and form a complete dance step performance from an insertion point to the landing without returning to the fixed dance step in the midway, as shown in fig. 2.
(2) Dynamic dance step generation
The dynamic dance does not need to be made before the flight performance, and when the user performs the formation performance, the user can draw the animation needing dynamic insertion on the spot at any time and any place, as shown in the left diagram of fig. 3. And then, converting the animation into a unmanned aerial vehicle cluster combined graph through track generation software, as shown in the right graph of fig. 3. The input end of the software is a hand-drawn picture, the output end of the software is an aircraft cluster combined picture, and the real-time performance is good. The trajectory from the switch point to the target picture forms a dynamic dance move. The algorithm for generating the dynamic dance steps is accurate, high in efficiency and free of simulation tests.
(3) Dynamic dance step switching
Aiming at the switching of the dynamic dance steps, a simple and effective dance step switching method is provided, and the dynamic dance step switching steps are as follows:
1) the hand-drawn graph is converted into an aircraft combination graph M by trajectory generation software.
2) The ground station end sends a pause command to pause the currently executed dance steps.
3) And generating a track path from the pause point to the combined graph M according to the position coordinates of the pause point returned by each aircraft, namely the dynamic dance moves.
4) And (3) the ground station end sends the dance steps generated in the step (3) to each aircraft, and after the dance steps are successfully sent, the ground station end sends instructions for continuing to execute the dance steps and executes dynamic dance steps. As shown in fig. 4.
The dynamic dance step switching is mainly to insert dynamic dance steps into fixed dance steps, the dynamic dance steps are a set of dance steps generated by dynamic dance step generation software according to the positions of the aircraft pause points and the target positions, and the method is simple, effective and good in real-time performance. And then the dynamic dance steps are sent to the aircraft, and the ground station end controls instructions to execute the dynamic dance steps.
If the ground station software provided by the invention needs to be inserted into the dynamic dance steps, firstly, a user makes target animations and waits for the fixed dance steps to finish executing the current animations. Clicking a pause button at the lower right corner of the ground station, and then all the aircrafts receive pause instructions and reply that the ground station receives the instructions. At this point, all aircraft execute the command, are in a suspended state, and simultaneously transmit the coordinate position to the ground station. And clicking a dynamic dance step generation button on the lower part in the ground station, calling dance step generation software, and generating the dynamic dance step according to the position of the aircraft pause point and the target position. And then clicking a 'dynamic dance step sending' button below the ground station, sending the dynamic dance step to all aircrafts, and returning a response instruction after the aircrafts receive the dynamic dance step. And finally, clicking a 'continue execution' button below the ground station to execute the dynamic dance steps.
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 method for switching group performance dynamic dance steps is characterized in that the method for switching group performance dynamic dance steps comprises the following steps:
inserting a dynamic dance step into the fixed dance step, wherein the dynamic dance step is generated by dynamic dance step generation software according to the position of the aircraft pause point and the target position; and then the dynamic dance steps are sent to the aircraft, and the ground station end controls instructions to execute the dynamic dance steps.
2. The method of claim 1, wherein the method of inserting fixed dance steps into dynamic dance steps comprises:
inserting dynamic dance steps into the fixed dance steps, returning to the fixed dance steps after the dynamic dance steps are executed, and continuously executing the fixed dance steps;
and inserting the dynamic dance steps into the fixed dance steps, executing the dynamic dance steps until landing, and forming a complete dance step performance from the insertion point to the landing.
3. The method of claim 1, wherein the dynamic dance step generation comprises:
when the formation is performed, a user draws animation needing to be dynamically inserted on the spot at any time and any place by hand; then, converting the animation into an unmanned aerial vehicle cluster combination diagram through trajectory generation software; the trajectory from the switch point to the target picture forms a dynamic dance move.
4. The method as claimed in claim 1, wherein the method specifically comprises:
1) converting the hand-drawn graph into an aircraft combined graph M by track generation software;
2) the ground station end sends a pause instruction to pause the currently executed dance steps;
3) generating a track path from the pause point to the combined graph M according to the position coordinates of the pause point transmitted back by each aircraft;
4) and (3) the ground station end sends the dance steps generated in the step (3) to each aircraft, and after the dance steps are successfully sent, the ground station end sends instructions for continuing to execute the dance steps and executes dynamic dance steps.
5. A trunking performance dynamic dance step switching control terminal is characterized in that the trunking performance dynamic dance step switching control terminal is used for implementing the trunking performance dynamic dance step switching method according to any one of claims 1-4.
6. An aircraft for implementing the method for dynamic dance step switching of group performance according to any one of claims 1 to 4.
7. 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:
inserting a dynamic dance step into the fixed dance step, wherein the dynamic dance step is generated by dynamic dance step generation software according to the position of the aircraft pause point and the target position; and then the dynamic dance steps are sent to the aircraft, and the ground station end controls instructions to execute the dynamic dance steps.
8. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
inserting a dynamic dance step into the fixed dance step, wherein the dynamic dance step is generated by dynamic dance step generation software according to the position of the aircraft pause point and the target position; and then the dynamic dance steps are sent to the aircraft, and the ground station end controls instructions to execute the dynamic dance steps.
9. An aircraft implementing the method of dynamic dance step switching in cluster performance according to any one of claims 1-4, applied to a commercial gathering station.
10. Use of an aircraft for implementing the method of dynamic dance steps of any one of claims 1 to 4 in public welfare activity performances.
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Application publication date: 20210416 |