TWI748849B - Stunt control device for unmanned aerial vehicle formation flying smoke pulling - Google Patents

Abstract

A special effect control device for drones flying in formation and pulling smoke is arranged on several drones. The drones include a pilot drone and at least one follower drone, and each drone includes a smoke pipe and a wireless communication mechanism. , An unmanned aerial vehicle (UAV), smoke direction control mechanism, and a cognitive planning decision-making mechanism. In this way, the drone formation flying smoke pulling stunt control device of the present invention performs artificial intelligence calculations on various factors that affect the smoke pulling effect, including: wind speed, wind direction, heading angle, sailing speed, smoke sag speed and direction, etc. It can help drones to improve functions such as control, navigation and path planning, and obtain flight parameters of various factors, so as to achieve the best smoking effect.

Description

Stunt control device for unmanned aerial vehicle formation flying smoke pulling

The present invention relates to a stunt control device for pulling smoke in formation flying by UAVs, especially And a kind of smoke pulling performance in the air, the use of the UAV formation flying to instantly correct the flight attitude, especially refers to the right time to correct the smoke pulling direction during the flight, so that the flight performance can take into account the changeable formation performance, also Those who can simultaneously modify the direction of drawing cigarettes and effectively reduce costs.

Whenever planes fly in formation during major celebrations, each plane is equipped with a smoke puller and smoke Pulling across the sky is like drawing colored lines in the sky. It is very spectacular. However, it is costly to fly the aircraft. Due to the increasing maturity of drone technology in recent years, compared with aircraft, the flying speed of drones is slow and cannot resemble airplanes (such as: Detector) can pull out beautiful long-tailed smoke in the sky as soon as it flies. Due to the slow speed of the drone, when the speed of the smoke is not fast enough, the smoke will be skewed after the smoke is sprayed from the chimney during the flight show. , Can not leave straight smoke after the smoke pulling demonstration, reducing the beauty of the show.

It can be seen that the above-mentioned existing methods obviously still have inconveniences and shortcomings, which need to be added. It is necessary for further improvement. Therefore, how to take into account the changeable formation performance, correct the smoke pulling direction and save costs when flying in the air to pull the smoke show, has become a problem that the industry needs to solve.

The main purpose of the present invention is to overcome the above-mentioned problems encountered by conventional techniques and to provide Provide a kind of factors that affect the effect of pulling smoke, including: wind speed, wind direction, heading angle, speed, smoke drop Artificial intelligence calculation of falling speed and direction can help drones improve control, navigation and path planning and other functions, and obtain flight parameters of various factors, so as to achieve the best smoke pulling effect. UAV formation flying smoke pulling stunt control device .

In order to achieve the above purpose, the present invention is a stunt control device for UAV formation flying to pull smoke. It is installed on several drones. These drones include a pilot drone and at least one follower drone, and each drone includes: a smoke pipe for spraying smoke to match the flight attitude of the aircraft to provide a pull Smoke effect; a wireless communication mechanism to communicate with other drones and transmit information in the form of mesh wireless communication; an unmanned aerial vehicle (UAV) and smoke direction control mechanism to connect the wireless communication mechanism, Used to receive a smoke direction correction flight formation signal for real-time body flight attitude correction during the flight to correct the smoke drawing direction of the smoke pipe, and transmit the smoke direction correction flight formation signal to other drones through the wireless communication mechanism; and The cognitive planning and decision-making mechanism has an artificial intelligence program to provide the smoke direction correction flight formation signal to the UAV and the smoke direction control mechanism; wherein the cognitive planning and decision-making mechanism in each UAV includes one of the wireless communication mechanisms connected Task attitude recognition module, a cooperative strategy planning module connected to the task attitude recognition module, and a flight behavior decision module connecting the UAV and the smoke direction control mechanism, the wireless communication mechanism, and the cooperative strategy planning module , The task attitude recognition module receives the Euler angles and position signals of other drones through the wireless communication mechanism, and calculates the pilot drone among the drones based on the coordinate position of each drone and the coordinate position of the smoke pipe The relative coordinate position between the drone and the at least one follower drone is used to generate the formation information of the pilot drone and the at least one follower drone, and the coordinated strategy planning module is used to provide the drone's information when the drone is flying. Real-time attitude data, obtain the position and orientation of the drone at each time point by calculating Euler angles, and receive the Euler angles of other drones through the wireless communication mechanism to obtain the flight attitude of each drone. The behavior decision module calculates based on the wind force and the obtained Euler angles to generate the smoke direction correction flight formation signal and send it to the UAV and smoke direction control mechanism. The UAV and smoke direction control mechanism correct the flight formation signal instruction according to the smoke direction. Control the body's flight attitude to correct the direction of the smoke pipe.

In the above-mentioned embodiment of the present invention, the task posture recognition module is connected to a wind direction and wind speed Receive the wind direction anemometer to measure a wind direction angle and wind speed data in real time during the flight.

In the above embodiment of the present invention, the task posture recognition module is connected to a formation data The database records several formation parameters of different teams, and provides the task attitude recognition module to select the required team formation parameters for calculation to generate the formation information.

In the above-mentioned embodiment of the present invention, the task posture recognition module has a standard system list Yuan and a formation system unit. The coordinate system unit is used to determine the coordinate position of the drone and the coordinate position of the smoke pipe. The formation system unit calculates the pilot drone and the pilot drone among the drones according to the team form to be arranged. The relative coordinate position between the at least one following drone generates formation information of the pilot drone and the at least one following drone.

In the above-mentioned embodiment of the present invention, the Euler angles obtained by the collaborative strategy planning module are used Three independent parameters of Φ, θ, and ψ are used to describe the rotation of space. The Φ, θ, and ψ are the angles of the coordinate system around the x-axis, y-axis, and z-axis in sequence, respectively, from the roll angle Φ, The pitch angle θ and the yaw angle ψ are composed.

In the above embodiment of the present invention, the wireless communication mechanism is a LoRa mechanism, a 4G Organization, a WiFi organization, a Bluetooth (Bluetooth) organization, or a combination thereof.

Please refer to "Pictures 1 to 5", which are the formation flying of the UAV of the present invention. Schematic diagram of the basic structure of the smoke pulling stunt control device, the detailed structure diagram of the drone formation flying smoke pulling stunt control device of the present invention, the coordinate position of the fuselage and the smoke pipe of the present invention, and the pilot drone of the present invention and at least one follower drone. A schematic diagram of the relative coordinate position between the two and a schematic diagram of the force analysis of the tobacco pipe of the present invention. As shown in the figure: the present invention is an unmanned aerial vehicle formation flying smoke-pulling stunt control device, which is set on several unmanned aerial vehicles 1. The unmanned aerial vehicles 1 include a pilot unmanned aerial vehicle and at least one follower unmanned aerial vehicle. Each machine 1 includes a smoke pipe 2, a wireless communication mechanism 3, an unmanned aerial vehicle (UAV) and smoke direction control mechanism 4, and a cognitive planning and decision-making mechanism 5.

The above mentioned smoke pipe 2 is used to spray out smoke to match the flight attitude of the aircraft and provide a pull Smoke effect.

The wireless communication mechanism 3 uses a star-shaped (mesh) wireless communication form to communicate with other unmanned Machine 1 communicates, links and sends information. Among them, the wireless communication mechanism 3 may be a LoRa mechanism, a 4G mechanism, a WiFi mechanism, a Bluetooth mechanism, or a combination thereof.

The UAV and the smoke direction control mechanism 4 are connected to the wireless communication mechanism 3 for receiving a The smoke direction correction flight formation signal is used for real-time flight attitude correction of the smoke pipe 2 during the flight, and the smoke direction correction flight formation signal is transmitted to other unmanned persons through the wireless communication mechanism 3. Machine 1 is used.

The cognitive planning and decision-making mechanism 5 has an artificial intelligence program to provide the smoke direction correction The flight formation signal is given to the UAV and the smoke direction control mechanism 4; wherein the cognitive planning and decision-making mechanism 5 in each UAV 1 includes a task attitude recognition module 51 connected to the wireless communication mechanism 3, and is connected to the task attitude recognition module A cooperative strategy planning module 52 of group 51, and a flight behavior decision module 53 connecting the UAV and the smoke direction control mechanism 4, the wireless communication mechanism 3, and the cooperative strategy planning module 52, and the mission attitude recognition Module 51 has a standard system unit and a formation system unit (not shown in the figure), and is connected to a formation database 511. If so, a brand-new drone formation flying smoke-pulling stunt control device is formed by the above-disclosed structure.

In one embodiment, the task attitude recognition module 51 of the present invention can be connected to a wind direction anemometer (not shown in the figure) on the drone 1, and receive the wind direction anemometer to measure a wind direction angle during flight in real time. (Θ _wind ) and wind speed (V _wind ) data, as shown in Figure 2.

，

； 其中|B|為向量B之模，

為向量B與地面座標系軸

之夾角。 該煙管之座標位置為：

； 其中|S|為向量S之模，

向量S與機體座標系軸

之夾角。 When used, the task attitude recognition module 51 uses the coordinate system unit to determine the coordinate position of the drone and the coordinate position of the smoke pipe. As shown in Figure 3, the coordinate position of the drone is:

,

; Where |B| is the modulus of vector B,

Is the axis of the vector B and the ground coordinate

的角。 The included angle. The coordinate position of the pipe is:

; Where |S| is the modulus of the vector S,

Vector S and body coordinate axis

的角。 The included angle.

地面座標位置為：

,

； 至少一跟隨無人機

之地面座標位置為：

,

； 該領航無人機

與該至少一跟隨無人機

地面座標係之相對座標位置為：

；

； 其中

將於編隊資料庫中表示為

，該編隊資料庫５１１資料結構定義如表一所示： 表一 Type

          The mission attitude recognition module 51 can receive the Euler angles (Φ, θ, ψ) and position signals of other UAVs 1 through the wireless communication mechanism 3, and according to the coordinate position of each UAV 1 and its smoke pipe 2 The coordinate position, select the formation parameters of the team to be arranged from the formation parameters of the different teams recorded in the formation database 511, and calculate the pilot drone and the at least one of the drones 1 through the formation system unit. The relative coordinate position between the following drones is used to generate formation information of the pilot drone and the at least one following drone. As shown in Figure 4, the pilot drone

The ground coordinate position is:

,

; At least one following drone

The ground coordinate position is:

,

; The pilot drone

With the at least one following drone

The relative position of the ground coordinate system is:

；

; in

Will be represented in the formation database as

The data structure definition of 511 of the formation database is shown in Table 1: Table 1. Type

；

；

； 地理座標系統與機體座標系統的轉換矩陣為：

； Then the collaborative strategy planning module 52 is used to provide the real-time attitude data of the drone 1 when the drone 1 is flying, and the position and orientation of the drone 1 at each time point are obtained by calculating the Euler angle, and at the same time through the wireless The communication mechanism 3 receives the Euler angles of other UAVs 1 to obtain the flight attitude of each UAV. Wherein, the Euler angle system uses three independent parameters of Φ, θ and ψ to describe the rotation of space. The Φ, θ and ψ are respectively the angles of the coordinate system rotating around the x-axis, y-axis and z-axis in sequence. , Respectively composed of roll angle Φ, pitch angle θ and yaw angle ψ, the rotation matrix of each axis is defined as:

；

；

; The conversion matrix between the geographic coordinate system and the body coordinate system is:

；

、重力G 與空氣阻力

，將作用於煙的合外力以地面座標系為參考座標可表示為：

；

由於重力G與空氣阻力

對於煙而言可以視為0，故簡化公式為：

=

； 由於橫滾角ϕ=0，進而簡化公式為：

=

Finally, the flight behavior decision module 53 performs calculations based on the wind force and the obtained Euler angle to generate the smoke direction correction flight formation signal and send it to the UAV and smoke direction control mechanism 4, and the UAV and smoke direction control mechanism 4 are based on the The smoke direction correction flight formation signal instructs to control the airframe's flight attitude, thereby correcting the smoke direction of the smoke pipe 2. As shown in Figure 5, the flight behavior decision module 53 has three sources of force acting on the smoke in the analysis of the force on the smoke: wind

, Gravity G and air resistance

, The resultant external force acting on the smoke with the ground coordinate system as the reference coordinate can be expressed as:

；

Due to gravity G and air resistance

For smoke, it can be regarded as 0, so the simplified formula is:

=

; Since the roll angle ϕ=0, the simplified formula is:

=

Thereby, the stunt control device for unmanned aerial vehicle formation flying and pulling smoke proposed in the present invention has various effects. The factors that affect the effect of pulling smoke include: wind speed, wind direction, heading angle, speed, smoke sag speed and direction, etc. The artificial intelligence calculation can help the drone to improve the control, navigation and path planning functions, and obtain the flight of various factors. Parameters, so as to achieve the best smoke pulling effect.

Therefore, this device involves the use of artificial intelligence to fly formations of drones, The special effect control system for pulling smoke can provide the following functions: 1. The smoke-pulling stunt control device can be used to replace the traditional smoke-pulling performance by drones in formation. 2. UAV formation flight control can be applied to other occasions that require multi-aircraft cooperative operation. 3. Smoke direction control can also be derived as a control mechanism for throwing, throwing and other functions.

In summary, the present invention is a stunt control device for unmanned aerial vehicle formation flying to pull smoke, which can Effectively improve the various shortcomings of conventional use. When flying in the air to pull the smoke, use the formation of drones to fly. The flight attitude can be corrected at the same time, and the smoke drawing direction can be corrected in time during the flight, so that the flight performance can also simultaneously correct the smoke drawing direction and effectively reduce the cost when taking into account the changeable formation performance, thereby making the invention more efficient. It is advanced, more practical, and more in line with the needs of users, and it has indeed met the requirements of an invention patent application. A patent application is filed in accordance with the law.

However, the above are only the preferred embodiments of the present invention, and should not be limited by this The scope of implementation of the present invention; therefore, all simple equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the content of the description of the invention should still fall within the scope of the patent of the present invention.

1: UAV 2: Smoke pipe 3: Wireless communication agency 4: UAV and smoke direction control mechanism 5: Cognitive planning and decision-making institutions 51: Task posture recognition module 511: Formation Database 52: Collaborative strategic planning module 53: Flight behavior decision-making module

Figure 1 is a schematic diagram of the basic structure of the smoke-pulling stunt control device for UAV formation flying in accordance with the present invention. Figure 2 is a schematic diagram of the detailed structure of the smoke-pulling stunt control device for UAV formation flying in accordance with the present invention. Figure 3 is a schematic diagram of the coordinate position of the body and its smoke pipe of the present invention. Figure 4 is a schematic diagram of the relative coordinate positions between the pilot drone of the present invention and at least one following drone. Figure 5 is a schematic diagram of the force analysis of the tobacco pipe of the present invention.

1: drone

2: smoke pipe

3: Wireless communication agency

4: UAV and smoke direction control mechanism

5: Cognitive planning decision-making agency

Claims (6)

A stunt control device for pulling smoke in formation flying by drones is arranged on several drones. The drones include a pilot drone and at least one follower drone, and each drone includes: A smoke pipe, used to spray smoke to match the flight attitude of the aircraft to provide a smoke pulling effect; A wireless communication mechanism to communicate with other drones and transmit information in the form of mesh wireless communication; A UAV (Unmanned aerial vehicle, UAV) and a smoke direction control mechanism are connected to the wireless communication mechanism to receive a smoke direction correction flight formation signal for real-time flight attitude correction of the smoke pipe during the flight. And transmit the smoke direction correction flight formation signal to other drones through the wireless communication mechanism; and A cognitive planning and decision-making mechanism with artificial intelligence programs to provide the smoke direction correction flight formation signal to the UAV and smoke direction control mechanism; wherein the cognitive planning and decision-making mechanism in each UAV includes a wireless communication mechanism A task attitude recognition module, a cooperative strategy planning module connected to the task attitude recognition module, and a flight behavior decision model connecting the UAV and the smoke direction control mechanism, the wireless communication mechanism, and the cooperative strategy planning module Group, the task attitude recognition module receives the Euler angles and position signals of other drones through the wireless communication mechanism, and calculates the pilot among the drones based on the coordinate position of each drone and the coordinate position of the smoke pipe The relative coordinate position between the drone and the at least one follower drone is used to generate the formation information of the pilot drone and the at least one follower drone, and the coordinated strategy planning module is used to provide the drone when the drone is flying The real-time attitude data of the drone is calculated by calculating the Euler angle to obtain the position and orientation of the drone at each time point. At the same time, the Euler angle of other drones is received through the wireless communication mechanism to obtain the flight attitude of each drone. The flight behavior decision module performs calculations based on the wind force and the obtained Euler angles to generate the smoke direction correction flight formation signal and send it to the UAV and smoke direction control mechanism. The UAV and smoke direction control mechanism correct the flight formation signal according to the smoke direction. Instructs to control the flight attitude of the body, so as to correct the direction of the smoke pipe. According to the first item of the scope of patent application, the drone formation flying smoke-pulling stunt control device, wherein the mission attitude recognition module is connected to a wind direction anemometer, and receives the wind direction anemometer to measure a wind direction angle and a wind direction during the flight in real time. Wind speed data. According to the first item of the scope of patent application, the drone formation flying and pulling smoke stunt control device, wherein the mission attitude recognition module is connected to a formation database, which records several formation parameters of different teams to provide the mission attitude recognition The module selects the formation parameters of the required team to perform calculations to generate the formation information. According to the first item of the scope of patent application, the drone formation flying smoke-pulling stunt control device, wherein the mission attitude recognition module has a standard system unit and a formation system unit, and the coordinate system unit is used to determine the drone's The coordinate position and the coordinate position of the smoke pipe, the formation system unit calculates the relative coordinate position between the pilot drone and the at least one follower drone among the drones according to the team form to be arranged, and generates the pilot drone Formation information with the at least one following drone. According to the first item of the scope of patent application, the drone formation flying smoke-pulling stunt control device, wherein the Euler angle obtained by the cooperative strategy planning module uses three independent parameters of Φ, θ and ψ to describe the rotation of the space , The Φ, θ, and ψ are the angles of the coordinate system rotating around the x-axis, y-axis and z-axis in sequence, respectively, consisting of a roll angle Φ, a pitch angle θ, and a yaw angle ψ. According to the first item of the scope of patent application, the drone formation flying smoke-pulling stunt control device, wherein the wireless communication mechanism is a LoRa mechanism, a 4G mechanism, a WiFi mechanism, a Bluetooth mechanism, or a combination thereof.

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