CN106843271A - The character display method and system formed into columns based on multi-rotor unmanned aerial vehicle - Google Patents
The character display method and system formed into columns based on multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The present invention relates to a kind of character display method formed into columns based on multi-rotor unmanned aerial vehicle and system, the character display method includes：Step 1, obtains character to be shown in task, and the corresponding multidigit binary coding of the character to be shown is extracted in dot matrix word library；Step 2, dot matrix is arranged in by the multidigit binary coding of the character to be shown, calculates the spatial geographical locations of all ' 1 ' positions in the multidigit binary coding；Step 3, sets up all ' 1 ' position appointment relations corresponding between multi-rotor unmanned aerial vehicle；Step 4, the spatial geographical locations according to each ' 1 ' position assign corresponding multi-rotor unmanned aerial vehicle to fly to the spatial geographical locations specified, and are formed into columns display with the multi-rotor unmanned aerial vehicle for constituting the character to be shown.In the present invention, formation any combination is realized, while the basic element for realizing the quick of formation, visualization, dynamic design and complicated formation splits and restructuring.
Description
Technical field
Compiled based on multi-rotor unmanned aerial vehicle the present invention relates to multi-rotor unmanned aerial vehicle formation flight application field, more particularly to one kind
The character display method and system of team.
Background technology
In media advertisement industry, it is most important that effective Information Communication sets up brand effect for businessman.However, in information
Superfluous today, traditional print media, multimedia, mobile media etc. are all difficult to the eye of formally quick attraction consumer
Ball, current era has been stepped into the two-way information exchange epoch from the unidirectional information consumption epoch already, therefore the row such as media advertisement
Industry faces an inevitable technological revolution.On the other hand, multi-rotor unmanned aerial vehicle technology is increasingly mature, and turns into recent years
The focus of high technology development.Being formed into columns using multi-rotor unmanned aerial vehicle carries out the display of the aerial character such as tag line, brand image, is
A kind of brand-new advertising mode, can not only cause the interactive visual impulsive force that a kind of consumer is on the spot in person, moreover it is possible to profit
With flying height the effect of publicity is realized in a wide region.Additionally, this application can also directly be generalized to red-letter day celebrating
The application fields such as allusion quotation performance, government information bulletin, therefore with great application prospect.
Existing unmanned air vehicle technique research is mostly focused on unit aspect, and is formed into columns using multiple no-manned plane and realize any character
Dynamic representation and switching be then nearly at space state.On November 4th, 2016, Intel Company is realized using 500 frame unmanned planes
Formation flight, and show the English name of company in the air；Such project is also including early stage domestic hundred million boats, Zhen Di etc.
The multiple no-manned plane performance that unmanned plane company is done.However, these research a common issues be, its character to display or
Figure is all to customize the flight pattern script for designing in advance, and designer needs to precompute the position of all unmanned plane nodes
Put, this system is difficult to extend and is multiplexed, while the evolution of complexity cannot be realized.How to realize flexibly, dynamically showing
Become problem demanding prompt solution with switching any character.
The content of the invention
In order to solve above mentioned problem of the prior art, i.e., in order to realize flexibly, dynamically showing and switch any character,
The invention provides a kind of character display method formed into columns based on multi-rotor unmanned aerial vehicle, comprise the following steps：
Step 1, obtains character to be shown in task, and the corresponding multidigit of the character to be shown is extracted in dot matrix word library
Binary coding；The binary coding unifies the coding lattice of conversion when being and extracting the character to be shown in any character library
Formula；Wherein, " 1 " position represents bright spot in the binary coding, and " 0 " position represents dim spot；
Step 2, the dot matrix being arranged according to the multidigit binary coding owns in calculating the multidigit binary coding
The spatial geographical locations of ' 1 ' position；
Step 3, sets up all ' 1 ' position appointment relations corresponding between multi-rotor unmanned aerial vehicle；
Step 4, the spatial geographical locations according to each ' 1 ' position are assigned corresponding multi-rotor unmanned aerial vehicle to fly to and are specified spatially
Reason position, is formed into columns with the multi-rotor unmanned aerial vehicle for constituting the character to be shown and shown.
Preferably, step 2 is specifically included：
Step 21, selected reference point is set up and refers to rectangular coordinate system, calculates all ' 1 ' positions in the multidigit binary coding
Coordinate position；
Step 22, treatment is zoomed in and out to the dot matrix, the coordinate bit of ' 1 ' position after calculating all treatment through the scaling
Put；
Step 23, space three-dimensional rotation processing is carried out to the dot matrix after scaled treatment, is calculated all through the space three
The coordinate position of " 1 " position after dimension rotation processing；
Step 24, defines the corresponding spatial geographical locations of the reference point, calculate it is all through the space three-dimensional rotation at
The spatial geographical locations of " 1 " position after reason.
Preferably, step 3 is specially：
Set up it is all through it is described scaling treatment and the space three-dimensional rotation processing after " 1 " positions and many rotors nobody
Corresponding appointment relation between machine.
Preferably, also include：
Step 5, indicates the multi-rotor unmanned aerial vehicle to fly to after the spatial geographical locations specified according to the task control machine
Carry the light on and off state and color of LED.
Preferably, when foundation owns the corresponding appointment relation between ' 1 ' position and the multi-rotor unmanned aerial vehicle, its implementation
Including the following two kinds：
Order is assigned, and mapping is pre-defined with the coded sequence of each multi-rotor unmanned aerial vehicle according to the order of " 1 " position in character
Table, is assigned according to the mapping table；Or
Optimization is assigned, current location and CSD to be shown according to all multi-rotor unmanned aerial vehicles, according to spy
Fixed optimizing index and constraints, appointment relation is set up using optimized algorithm.
Present invention also offers a kind of character display system formed into columns based on multi-rotor unmanned aerial vehicle, including：
Character code extraction module, for obtaining character to be shown in task, waits to show in dot matrix word library described in extraction
Show the corresponding multidigit binary coding of character；The binary coding is when of extracting the character to be shown in any character library institute
The coded format of unified conversion；Wherein, " 1 " position represents bright spot in the binary coding, and " 0 " position represents dim spot；
Character computing module, the dot matrix for being arranged according to the multidigit binary coding calculates the multidigit binary system
Own the spatial geographical locations of ' 1 ' position in coding；
Appointment relation sets up module, for setting up all ' 1 ' positions appointment relation corresponding between multi-rotor unmanned aerial vehicle；
Assignment module, for assigning corresponding multi-rotor unmanned aerial vehicle to fly to specified according to the spatial geographical locations of each ' 1 ' position
Spatial geographical locations, with constitute the character to be shown multi-rotor unmanned aerial vehicle form into columns display.
Preferably, the character computing module is specifically included：
Standard character calculating sub module, rectangular coordinate system is referred to for selecting reference point foundation, is calculated the multidigit two and is entered
Owns the coordinate position of ' 1 ' position in system coding；
Character scale calculating sub module, for zooming in and out treatment to the dot matrix, calculates all through scaling treatment
The coordinate position of ' 1 ' position afterwards；
Character rotates calculating sub module, for carrying out space three to the dot matrix after character scale calculating sub module treatment
Dimension rotation processing, calculates the coordinate position of all " 1 " positions after the space three-dimensional rotation processing；
Geographical position calculating sub module, for defining the corresponding spatial geographical locations of the reference point, calculates all through institute
State the spatial geographical locations of " 1 " position after character rotation calculating sub module is processed.
Preferably, the appointment relation set up module specifically for set up it is all through the character scale calculating sub module and
" 1 " position after the character rotation calculating sub module treatment and the corresponding appointment relation between the multi-rotor unmanned aerial vehicle.
Preferably, also include：
Indicating module, for after the spatial geographical locations that indicate the multi-rotor unmanned aerial vehicle to fly to specify according to the task
Control the light on and off state and color of airborne LED.
Preferably, the appointment relation sets up module includes the following two kinds mode：
Order is assigned, and mapping is pre-defined with the coded sequence of each multi-rotor unmanned aerial vehicle according to the order of " 1 " position in character
Table, is assigned according to the mapping table；Or
Optimization is assigned, current location and CSD to be shown according to all multi-rotor unmanned aerial vehicles, according to spy
Fixed optimizing index and constraints, appointment relation is set up using optimized algorithm.
Compared with prior art, the present invention at least has advantages below：
Design is shown based on the character that multi-rotor unmanned aerial vehicle is formed into columns by the present invention, realize based on many rotors nobody
The character that machine is formed into columns flexibly, dynamically shows and any switching laws.
Brief description of the drawings
Fig. 1 is the character display method flow chart formed into columns based on multi-rotor unmanned aerial vehicle that the present invention is provided；
Fig. 2 be the present invention provide embodiment in be given an exemplary character dot matrix diagram；
Fig. 3 is that the standard character that the present invention is provided refers to rectangular coordinate system schematic diagram；
Fig. 4 is the character scale and character rotation transformation schematic diagram that the present invention is provided；
Fig. 5 is a kind of appointment relation schematic diagram that the embodiment that the present invention is provided is given.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little implementation methods are used only for explaining know-why of the invention, it is not intended that limit the scope of the invention.
In the present invention, there is provided a kind of character display method formed into columns based on multi-rotor unmanned aerial vehicle, as shown in figure 1, working as
After receiving character display task, according to the character to be shown for getting, following 8 steps S1~S8 is carried out, specifically included：
S1, extracts character binary coding；
The corresponding multidigit binary coding of the character to be shown is extracted using existing dot matrix word library, is used in the present embodiment
HZK16 character libraries, it is the dot matrix word library for meeting GB2312 standards, therefore each character is converted to two by 32 byte representations
Scale coding is 256 bits, and with the upper left corner as starting point, by rows, the binary coding is that institute is extracted in any character library
Unify the coded format of conversion when stating character to be shown, " 1 " position represents bright spot, and " 0 " position represents dim spot；Fig. 2 gives one
Specific implementation example " in " diagram of word, its corresponding multidigit binary coding is：
1st row：00000001,00000000；2nd row：00000001,00000000；
3rd row：00000001,00000100；4th row：01111111,11111110；
5th row：01000001,00000100；6th row：01000001,00000100；
7th row：01000001,00000100；Eighth row：01000001,00000100；
9th row：01111111,11111100；10th row：01000001,00000100；
11st row：00000001,00000000；12nd row：00000001,00000000；
13rd row：00000001,00000000；14th row：00000001,00000000；
15th row：00000001,00000000；16th row：00000001,00000000.
The dot matrix word library different for other, binary coding equivalent is：" 1 " position represents bright spot, and " 0 " position represents dark
Point.
S2, standard character position calculates；
The binary coding of gained character in S1 is arranged in dot matrix by the dot matrix word library standard for being used, reference is selected
Point, foundation refers to rectangular coordinate system, calculates the coordinate position of all " 1 " positions.
Fig. 3 show in step S2 the schematic diagram with reference to rectangular coordinate system.In the schematic diagram, the upper left corner of character is selected
It is the origin of coordinates, and by character horizontal positioned, it is highly designated as 0, z-axis straight up (outside perpendicular to paper), is arranged to being x
Axle, row to being y-axis, by the principle that character is arranged in x/y plane first quartile made, and the coordinate system set up is designated as by direction
O1Range normalization between system, adjacent row, column dot matrix binary digit is unit 1, is had n " 1 " in note character binary coding
Position, calculates i-th coordinate position of " 1 " position in O1Coordinate position in system is vi, i=1 ..., n.For example, " in " word has 52
Individual " 1 " position, i.e. n=52, the 1st A point coordinates position of " 1 " position is v1=(0,7,0), the B point coordinates position of last " 1 " position
It is set to v52=(15,7,0), the rest may be inferred for other.
S3, character scale is calculated；
Size requirements are shown according to character, treatment is zoomed in and out to the dot character in S2, owned after calculating scaling treatment
The coordinate position of " 1 " position.
S4, character rotation is calculated；
Required according to character angles of display, space three-dimensional rotation processing carried out to the dot character after scaling treatment in S3,
Owns the coordinate position of " 1 " positions after calculating rotation processing.
As shown in figure 4, when character scale is carried out, keeping coordinate system constant, note scaling coefficient is k, calculates scaling
The i-th afterwards coordinate position of " 1 " position is in O1Coordinate position in system is kvi, i=1 ..., n.In figure, M1 is standard character, and M2 is
Character after diminution, i.e. k ＜ 1, M3 are the character after amplifying, i.e. k ＞ 1；
When line character rotation is entered, the holding origin of coordinates is constant, and the coordinate system after three-dimensional rotation is designated as O2System, O2System is relative
In O1The coordinate spin matrix of system is T1, i-th coordinate position of " 1 " position is in O after calculating rotation1Coordinate position in system is
T1kvi, i=1 ..., n.
S5, geographical position calculates；
The corresponding spatial geographical locations of reference point in given S2, calculate the spatial geographical locations of all " 1 " positions in S4.
When geographical position is calculated, the selected geographical position coordinates system of note is O3System, it is preferred that selection ground point is original
Point, sets up northeast day coordinate system, gives O1The spatial geographical locations p of reference point, obtains i-th after being converted through all of above step
The coordinate position of " 1 " position is in O3Spatial geographical locations in system are T2T1kvi+ p, wherein T2It is O1System is relative to O3The coordinate rotation of system
Torque battle array.
Wherein, above-mentioned steps S2~S5, can be processed with consolidation into a step, i.e., be arranged according to the multidigit binary coding
Dot matrix calculate the spatial geographical locations for owning ' 1 ' positions in the multidigit binary coding.
S6, assigns unmanned plane；
According to available multi-rotor unmanned aerial vehicle, set up in S4 and own one-to-one between " 1 " position and each multi-rotor unmanned aerial vehicle
Appointment relation, as shown in figure 5, the arrow in the diagram only illustrates a kind of corresponding relation, does not represent flight path, does not also represent
It is unique corresponding relation.Multi-rotor unmanned aerial vehicle appointment is carried out using any one foundation in following two methods：
Order is assigned, and mapping is pre-defined with the coded sequence of each multi-rotor unmanned aerial vehicle according to the order of " 1 " position in character
Table, is assigned according to the mapping table；Or
Optimization is assigned, current location and CSD to be shown according to all multi-rotor unmanned aerial vehicles, according to spy
Fixed optimizing index and constraints, appointment relation is set up using optimized algorithm.
S7, the control of unmanned plane destination；
All " 1 " the bit space geographical position that will be calculated in S5 pass to many rotors corresponding after assigning in S6 without
It is man-machine, indicate each unmanned plane destination controller to control corresponding multi-rotor unmanned aerial vehicle to fly to the spatial geographical locations specified according to institute
The light on and off state and color of the airborne LED of task control are stated, so as to the multi-rotor unmanned aerial vehicle for constituting character to be shown forms into columns aobvious
Show.
S8, unmanned plane signal light control；
According to instruction, each unmanned plane destination controller flies to through step S7 each multi-rotor unmanned aerial vehicles of control and specifies spatially
Behind reason position, each multi-rotor unmanned aerial vehicle lamp dimmer opens airborne LED.
Based on the same or similar reason of scheme that the invention described above is provided, present invention also offers one kind based on many rotations
The character display system that wing unmanned plane is formed into columns, if including earth station, quarreling between multi-rotor unmanned aerial vehicle and earth station and unmanned plane
Communication equipment；
Wherein, earth station includes：
Character code extraction module, for obtaining character to be shown in task, waits to show in dot matrix word library described in extraction
Show the corresponding multidigit binary coding of character.
Character computing module, the dot matrix for being arranged according to the multidigit binary coding calculates the multidigit binary system
Own the spatial geographical locations of ' 1 ' position in coding；The character computing module is specifically included：
Standard character calculating sub module, rectangular coordinate system is referred to for selecting reference point foundation, is calculated the multidigit two and is entered
Owns the coordinate position of ' 1 ' position in system coding；
Character scale calculating sub module, for zooming in and out treatment to the dot matrix, calculates all through scaling treatment
The coordinate position of ' 1 ' position afterwards；
Character rotates calculating sub module, for carrying out space three to the dot matrix after character scale calculating sub module treatment
Dimension rotation processing, calculates the coordinate position of all " 1 " positions after the space three-dimensional rotation processing；
Geographical position calculating sub module, for defining the corresponding spatial geographical locations of the reference point, calculates all through institute
State the spatial geographical locations of " 1 " position after character rotation calculating sub module is processed.
Appointment relation sets up module, for setting up all ' 1 ' positions appointment relation corresponding between multi-rotor unmanned aerial vehicle；Specifically
For setting up all " 1 " positions through after the character scale calculating sub module and character rotation calculating sub module treatment and institute
State the corresponding appointment relation between multi-rotor unmanned aerial vehicle.
Assignment module, for assigning corresponding multi-rotor unmanned aerial vehicle to fly to specified according to the spatial geographical locations of each ' 1 ' position
Spatial geographical locations, with constitute the character to be shown multi-rotor unmanned aerial vehicle form into columns display；The appointment relation sets up mould
Block includes the following two kinds mode：
Order is assigned, and mapping is pre-defined with the coded sequence of each multi-rotor unmanned aerial vehicle according to the order of " 1 " position in character
Table, is assigned according to the mapping table；Or
Optimization is assigned, current location and CSD to be shown according to all multi-rotor unmanned aerial vehicles, according to spy
Fixed optimizing index and constraints, appointment relation is set up using optimized algorithm.
Indicating module, for after the spatial geographical locations that indicate the multi-rotor unmanned aerial vehicle to fly to specify according to the task
Control the light on and off state and color of airborne LED.
Communication equipment between the earth station and unmanned plane is used to realize the earth station and the multi rack multi-rotor unmanned aerial vehicle
Between two-way wireless communication, the space of certain " 1 " position that the earth station will be calculated through the geographical position calculating sub module
Geographical position is sent to through the corresponding multi-rotor unmanned aerial vehicle of the assignment module, and receives the state return letter of multi-rotor unmanned aerial vehicle
Breath；
Wherein, each multi-rotor unmanned aerial vehicle is equipped with destination controller, and the destination controller ought receive earth station's hair
Behind correspondence " 1 " the bit space geographical position sent, as destination instruction, control unmanned plane fly to specify space and geographical position
Put.
The multi-rotor unmanned aerial vehicle may be equipped with lamp dimmer, when the destination controller control of the multi-rotor unmanned aerial vehicle should
After multi-rotor unmanned aerial vehicle flies to the spatial geographical locations specified, the lamp dimmer control airborne LED light on and off state and
Color.
So far, combined preferred embodiment shown in the drawings describes technical scheme, but, this area
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these
Technical scheme after changing or replacing it is fallen within protection scope of the present invention.
Claims (10)
1. it is a kind of based on multi-rotor unmanned aerial vehicle form into columns character display method, it is characterised in that comprise the following steps：
Step 1, obtains character to be shown in task, the corresponding multidigit two of the character to be shown is extracted in dot matrix word library and is entered
System coding；The binary coding unifies the coded format of conversion when being and extracting the character to be shown in any character library；
Wherein, " 1 " position represents bright spot in the binary coding, and " 0 " position represents dim spot；
Step 2, the dot matrix being arranged according to the multidigit binary coding owns ' 1 ' position in calculating the multidigit binary coding
Spatial geographical locations；
Step 3, sets up all ' 1 ' position appointment relations corresponding between multi-rotor unmanned aerial vehicle；
Step 4, the spatial geographical locations according to each ' 1 ' position assign corresponding multi-rotor unmanned aerial vehicle to fly to the space and geographical position specified
Put, formed into columns with the multi-rotor unmanned aerial vehicle for constituting the character to be shown and shown.
2. it is according to claim 1 based on multi-rotor unmanned aerial vehicle form into columns character display method, it is characterised in that step 2
Specifically include：
Step 21, selected reference point is set up and refers to rectangular coordinate system, calculates the seat of all ' 1 ' positions in the multidigit binary coding
Cursor position；
Step 22, treatment is zoomed in and out to the dot matrix, the coordinate position of ' 1 ' position after calculating all treatment through the scaling；
Step 23, space three-dimensional rotation processing is carried out to the dot matrix after scaled treatment, calculates all through space three-dimensional rotation
The coordinate position of " 1 " position after turning to process；
Step 24, defines the corresponding spatial geographical locations of the reference point, calculates all after the space three-dimensional rotation processing
The spatial geographical locations of " 1 " position.
3. it is according to claim 2 based on multi-rotor unmanned aerial vehicle form into columns character display method, it is characterised in that step 3
Specially：
Set up between all " 1 " positions through after the scaling treatment and the space three-dimensional rotation processing and the multi-rotor unmanned aerial vehicle
Corresponding appointment relation.
4. the character display method formed into columns based on multi-rotor unmanned aerial vehicle according to any one of claims 1 to 3, its feature exists
In also including：
Step 5, indicates the multi-rotor unmanned aerial vehicle to fly to after the spatial geographical locations specified according to the airborne LED of the task control
The light on and off state and color of lamp.
5. the character display method formed into columns based on multi-rotor unmanned aerial vehicle according to any one of claims 1 to 3, its feature exists
In when foundation owns the corresponding appointment relation between ' 1 ' position and the multi-rotor unmanned aerial vehicle, its implementation includes following two
Kind：
Order is assigned, and mapping table is pre-defined with the coded sequence of each multi-rotor unmanned aerial vehicle according to the order of " 1 " position in character, is pressed
Assigned according to the mapping table；Or
Optimization is assigned, current location and CSD to be shown according to all multi-rotor unmanned aerial vehicles, according to specific
Optimizing index and constraints, appointment relation is set up using optimized algorithm.
6. it is a kind of based on multi-rotor unmanned aerial vehicle form into columns character display system, it is characterised in that including：
Character code extraction module, for obtaining character to be shown in task, extracts the word to be shown in dot matrix word library
Accord with corresponding multidigit binary coding；The binary coding is unified by when extracting the character to be shown in any character library
The coded format of conversion；Wherein, " 1 " position represents bright spot in the binary coding, and " 0 " position represents dim spot；
Character computing module, the dot matrix for being arranged according to the multidigit binary coding calculates the multidigit binary coding
In own ' 1 ' positions spatial geographical locations；
Appointment relation sets up module, for setting up all ' 1 ' positions appointment relation corresponding between multi-rotor unmanned aerial vehicle；
Assignment module, the sky specified for being flown to according to the corresponding multi-rotor unmanned aerial vehicle of spatial geographical locations appointment of each ' 1 ' position
Between geographical position, with constitute the character to be shown multi-rotor unmanned aerial vehicle form into columns display.
7. it is according to claim 6 based on multi-rotor unmanned aerial vehicle form into columns character display system, it is characterised in that the word
Symbol computing module is specifically included：
Standard character calculating sub module, rectangular coordinate system is referred to for selecting reference point foundation, is calculated the multidigit binary system and is compiled
Owns the coordinate position of ' 1 ' position in code；
Character scale calculating sub module, for zooming in and out treatment to the dot matrix, ' 1 ' after calculating all treatment through the scaling
The coordinate position of position；
Character rotates calculating sub module, for carrying out space three-dimensional rotation to the dot matrix after character scale calculating sub module treatment
Turn treatment, calculate the coordinate position of all " 1 " positions after the space three-dimensional rotation processing；
Geographical position calculating sub module, for defining the corresponding spatial geographical locations of the reference point, calculates all through the word
The spatial geographical locations of " 1 " position after symbol rotation calculating sub module treatment.
8. it is according to claim 7 based on multi-rotor unmanned aerial vehicle form into columns character display system, it is characterised in that the finger
Relation is sent to set up module all through the character scale calculating sub module and the character tropometer operator mould specifically for setting up
" 1 " position after block treatment and the corresponding appointment relation between the multi-rotor unmanned aerial vehicle.
9. the character display system formed into columns based on multi-rotor unmanned aerial vehicle according to any one of claim 6~8, its feature exists
In also including：
Indicating module, for after the spatial geographical locations that indicate the multi-rotor unmanned aerial vehicle to fly to specify according to the task control
The light on and off state and color of airborne LED.
10. according to any one of claim 6~8 based on multi-rotor unmanned aerial vehicle form into columns character display system, its feature
It is that the appointment relation sets up module includes the following two kinds mode：
Order is assigned, and mapping table is pre-defined with the coded sequence of each multi-rotor unmanned aerial vehicle according to the order of " 1 " position in character, is pressed
Assigned according to the mapping table；Or
Optimization is assigned, current location and CSD to be shown according to all multi-rotor unmanned aerial vehicles, according to specific
Optimizing index and constraints, appointment relation is set up using optimized algorithm.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111123978A (en) * | 2019-12-26 | 2020-05-08 | 一飞智控(天津)科技有限公司 | Position-based cluster unmanned aerial vehicle automatic numbering processing system and method, and unmanned aerial vehicle |
| CN111343082A (en) * | 2020-03-06 | 2020-06-26 | 梁冠岚 | Stereoscopic display method for micro robot cluster |
| CN112631323A (en) * | 2020-11-19 | 2021-04-09 | 一飞(海南)科技有限公司 | Cluster unmanned aerial vehicle grouping assignment method, system, controller, medium and terminal |
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| CN108170159A (en) * | 2017-12-20 | 2018-06-15 | 江苏数字鹰科技股份有限公司 | The method of the aerial display pattern of unmanned plane and video |
| CN107943086A (en) * | 2017-12-21 | 2018-04-20 | 合肥灵猫传媒有限公司 | A kind of unmanned plane cluster makes a return voyage control system |
| 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 |
| CN108445914A (en) * | 2018-06-06 | 2018-08-24 | 厦门大学 | A kind of unmanned plane formation performance system and its implementation based on UWB positioning |
| CN111123978A (en) * | 2019-12-26 | 2020-05-08 | 一飞智控(天津)科技有限公司 | Position-based cluster unmanned aerial vehicle automatic numbering processing system and method, and unmanned aerial vehicle |
| CN111123978B (en) * | 2019-12-26 | 2023-08-22 | 一飞智控(天津)科技有限公司 | Automatic numbering processing system and method for clustered unmanned aerial vehicle based on position and unmanned aerial vehicle |
| CN111343082A (en) * | 2020-03-06 | 2020-06-26 | 梁冠岚 | Stereoscopic display method for micro robot cluster |
| CN112631323A (en) * | 2020-11-19 | 2021-04-09 | 一飞(海南)科技有限公司 | Cluster unmanned aerial vehicle grouping assignment method, system, controller, medium and terminal |
| CN112631323B (en) * | 2020-11-19 | 2023-10-31 | 一飞(海南)科技有限公司 | Cluster unmanned aerial vehicle grouping assignment method, system, controller, medium and terminal |
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