CN107813955A - A kind of unmanned plane and corresponding unmanned plane formation display methods - Google Patents
A kind of unmanned plane and corresponding unmanned plane formation display methods Download PDFInfo
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- CN107813955A CN107813955A CN201710973101.0A CN201710973101A CN107813955A CN 107813955 A CN107813955 A CN 107813955A CN 201710973101 A CN201710973101 A CN 201710973101A CN 107813955 A CN107813955 A CN 107813955A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Control Of Indicators Other Than Cathode Ray Tubes (AREA)
Abstract
The present invention provides a kind of unmanned plane and corresponding unmanned plane formation display methods, wherein unmanned plane includes unmanned plane body and the pod apertures on body, propeller is installed in the pod apertures, top air inlet of the pod apertures from the unmanned plane body, from the side exhaust of the unmanned plane body, the bottom of the unmanned plane is provided with flat panel display unit.After the unmanned plane of the present invention and corresponding unmanned plane formation display methods, the unmanned plane possesses larger display picture, higher image resolution ratio, it is easy to combination extension, display content variation, it is easily controllable, and, display content can dynamically be changed according to it in the position of whole display space by forming into columns when showing, and passage time synchronously realizes display content synchronization, simplifies the display control in unmanned plane during flying performance.
Description
Technical field
The present invention relates to a kind of unmanned plane and corresponding unmanned plane formation display methods.
Background technology
UAV abbreviation unmanned plane, operated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.According to different flight theories three kinds of fixed-wing, flapping wing and rotor can be roughly divided into divide.Fixed-wing without
Man-machine that wing is fixed on body, aerodynamic structure has used for reference the principle and design experiences of existing large aircraft, possesses
Certain gliding ability, flying distance is remote and flying speed is fast, and for remote, large-scale application scenarios, but it must have
Standby certain wing area and takeoff speed, miniaturization has reached bottleneck, and flexibility is also poor.Flapping wing type unmanned plane its
Dynamical system designs the motion feature for having imitated birds, and the counter-force that wing pats air is answered as lift and forward power, its principle
Theoretical direction and structure design experience miscellaneous and that shortage is perfect, realize that difficulty is bigger.The power of rotor class unmanned plane typically by
Produced in the rotor wing rotation of symmetrical, the paired rotating of body surrounding, each rotor rotating speed is changed by motor to complete to fly
The adjustment of posture and realize various Basic Flight Maneuvers.Rotor class unmanned plane common at present has four rotors, six rotors, eight rotors
Have the advantages that mechanical structure is simple, manipulation is flexible Deng, rotor class unmanned plane, have been able to realize in low latitude field automatic
Take off, land automatically, reaching that specified point hover automatically, translated, specific task is realized in the motion such as rolling, interior also may be used
To obtain four rotor real-time poses by the navigation algorithm of view-based access control model, a variety of work(such as flight, Track In Track, avoidance are now pinpointed
Energy.Fig. 1 is typical four rotor wing unmanned aerial vehicles schematic diagram.
But in the evolution of past unmanned plane, shooting is a main application, but seems to enter development bottle
The neck phase.Now, a new application of unmanned plane is exactly unmanned plane light show, have received good effect.But nobody
Machine light show controls it luminous by the mounted LED lamp on unmanned plane and by central computer, with multiple UAVs
Formation flight forms various patterns in the air together, brings good visual experience.
From the point of view of consumer unmanned air vehicle technique development at present, primarily to meeting the needs of taking photo by plane, unmanned plane of taking photo by plane is only
Need to carry a camera can, its area is small, and unmanned plane performance needs to expand the display surface of unmanned plane as far as possible
Product.Take photo by plane install LED additional on unmanned plane body by way of can expand display area, but be limited to unmanned plane body
Structure, cause to show dot matrix skewness on unmanned plane, display quality is bad.
Also sent to obtain the technologies such as preferable display effect, various video walls, Projection Display in open place
Use, although preferable display quality can be obtained, because it is fixed display, On-the-spot Interaction effect is simultaneously bad.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane and corresponding unmanned plane formation display methods, it possesses higher
It display performance and autgmentability, can dynamically change display content, simplify the display control in unmanned plane during flying.
To achieve these goals, the present invention provides a kind of unmanned plane, including unmanned plane body and on body
Pod apertures, are provided with propeller in the pod apertures, and the pod apertures are from the top air inlet of the unmanned plane body, from the nothing
The side exhaust of man-machine body, the bottom of the unmanned plane are provided with flat panel display unit.
Further, the flat panel display unit is concordant with the periphery of the unmanned plane body, the flat panel display unit
Profile is planar rectangular；The flat panel display unit is OLED display unit.
Further, it is provided with UAV Landing protective cradle on the outside of the uav bottom.
Further, the unmanned plane hardware circuit also includes reproduction time synchronization unit, positioning unit and display content
Memory cell, the reproduction time synchronization unit are carried out by the communication system of global positioning satellite system or the unmanned plane
Periodic time synchronized, the display stored in the display content memory cell is played by the time control after the synchronization
Content, the positioning unit are used for the locus for determining the unmanned plane.
The present invention also provides a kind of unmanned plane, and the unmanned plane includes rotor and head, and the head includes mechanical attachment
Interface, display drive control interface and power interface, detachably couple flat panel display unit by the mechanical attachment interface,
It is the flat panel display unit by power interface by showing the display of flat panel display unit described in drive control Interface Controller
Power supply.
Further, the unmanned plane hardware circuit also includes reproduction time synchronization unit, positioning unit and display content
Memory cell, the reproduction time synchronization unit are carried out by the communication system of global positioning satellite system or the unmanned plane
Periodic time synchronized, the display stored in the display content memory cell is played by the time control after the synchronization
Content, the positioning unit are used for the locus for determining the unmanned plane.
The present invention also provides a kind of unmanned plane and carries out unmanned plane formation display methods, and methods described includes, it is determined that nothing
The display picture of man-machine formation and display time；The space coordinates scope of the unmanned plane formation display is determined, by the display
Space coordinates scope of the image projection to unmanned plane formation display；Unmanned plane described in every frame is according to its current location described
The display screen size of the relative position of space coordinates scope and the unmanned plane, determine the display content of the unmanned plane；
The unmanned plane is according to the display content for showing its determination of time showing.
Further, methods described also includes, and unmanned plane time synchronized step, unmanned plane described in every frame passes through global location
Satellite system or the communication system of the unmanned plane carry out periodic time synchronized.
Further, the space coordinates scope is changed according to the change of the unmanned plane flight pattern.
Further, the unmanned plane in the unmanned plane formation has different display screen sizes.
After the unmanned plane of the present invention and corresponding unmanned plane formation display methods, the unmanned plane possesses larger show
Show picture, higher image resolution ratio, be easy to combination extension, display content variation, it is easily controllable, moreover, during formation display
Display content can dynamically be changed in the position of whole display space according to it, and passage time synchronously realizes display content
It is synchronous, simplify the display control in unmanned plane during flying performance.
Brief description of the drawings
Fig. 1 is typical four rotor wing unmanned aerial vehicles schematic diagram;
Fig. 2 and Fig. 3 is the principle schematic of the unmanned plane of the present invention；
Fig. 4 ~ Fig. 7 is several typical cases that the unmanned plane of the present invention flies in the air；
Fig. 8 is the system architecture diagram of the unmanned plane of the present invention；
Fig. 9 is the network organization figure that unmanned plane of the present invention is formed into columns；
Figure 10 is the control flow of UAV Formation Flight；
Figure 11 is the flow chart that unmanned plane of the present invention combines display picture；
Figure 12 is the schematic diagram that unmanned plane display picture of the present invention determines.
Embodiment
Fig. 2 and Fig. 3 is the principle schematic of the unmanned plane of the present invention.Unmanned plane body 1 is provided with 4 pod apertures 3, each
Installation propeller 2, propeller 2 are driven by buncher in pod apertures 3.Hole 4 is provided with the middle part of unmanned plane body 1, for subtracting
The weight of light unmanned plane body.Fig. 3 is the profile along the direction of two holes side by side of unmanned plane body 1, when buncher drives
During dynamic propeller 2, air-flow enters pod apertures 3 from unmanned plane bodies top direction 28 and 29, and from body side surface direction 21,22,
23,24 outflows.In uav bottom, be provided with it is concordant with unmanned plane periphery or close to concordant flat-panel monitor 10, in nothing
Man-machine bottom outside, it is provided with UAV Landing protective cradle 11 and 12.The back of flat-panel monitor is provided with FPD
Winged control driving plate of device drive circuit board and unmanned plane, or both is arranged on same circuit board, and this depends on specific
Structure design and component structure.When unmanned plane flies up, the flat-panel monitor 10 of bottom can show various pictures
And animation.The flat-panel monitor 10 of the present invention is OLED display screen, because its light weight, luminosity is high, certainly, Qi Taxian
Display screen such as LCD display can also be applied to the present invention.
For the clearer explanation present invention, Fig. 4 ~ Fig. 7 is that several typical cases that the unmanned plane of the present invention flies in the air should
With.Fig. 4 is that the display of single rack unmanned plane is applied, the display image 31 of display surface 41 of the flat-panel monitor of unmanned plane body 1.Fig. 5 is 4
The splicing of frame unmanned plane forms single array of display and carrys out display image.Fig. 6 is that the single array of display of 16 frame unmanned planes splicing composition comes
Display image.Fig. 7 is that 16 frame unmanned planes splicing 4 array of display of composition carry out display image.It is of course also possible to be more multi rack nobody
Machine splicing forms single or several array of display and carrys out display image.What Fig. 4 to Fig. 7 only present invention applied illustrates.
In addition, the posture of unmanned plane can be parallel to ground, and can also be at a certain angle with ground, so as to obtain more preferable user
Visual angle.In addition, unmanned plane or unmanned plane array can fly in identical height, can also fly in different height.
Fig. 8 is the system architecture diagram of the unmanned plane of the present invention.Shown unmanned plane includes main control unit 51, and flight control is single
Member 52, display control unit 53, inertia sensing unit 54, positioning unit 55, course sensing unit 56, memory cell 57, communication
Unit 58 and power supply 59.Wherein, main control unit 51 is used for the interactive controlling of system each unit, and flight control units 52 are used for
According to default flight path, inertia sensing unit 54, the data that positioning unit 55 and course sensing unit 56 are sensed are true
Determine the rotating speed of each propeller on unmanned plane.Display control unit 53 is used for the content for showing setting, and its content shown can be with
It is transmitting in real time or advance stored in memory cell 57 by communication unit 58.Inertia sensing unit 54 wraps
Acceleration transducer and gyro sensor are included, for obtaining acceleration and the direction of unmanned plane during flying.Course transmitter unit
56 be geomagnetic sensor, and it can obtain the magnetic direction of unmanned plane during flying, and it is used cooperatively with gyro sensor can be more
Fast more accurately obtain the direction of unmanned plane during flying.Positioning unit 55 includes satellite positioning unit and height sensor unit,
Both combine position and the height that can relatively accurately determine unmanned plane, fixed for satellite fix, mean level
At 5 ~ 10 meters or so, altitude location precision can be improved its precision by various auxiliary positioning means at 10 ~ 20 meters position precision
To meter level, decimeter grade.Memory cell 57 is used to store display content.Communication unit 58 can be WIFI, and bluetooth or 4G, 5G lead to
The modes such as letter, it includes the intercommunication unit of unmanned plane and unmanned plane and the communication unit of ground control centre.
Fig. 9 is the network organization figure that unmanned plane of the present invention is formed into columns.When UAV Formation Flight, it is divided into main frame and official
Machine, main frame are responsible for being communicated with unmanned aerial vehicle control centre, receive the instruction of control centre and instruction issuing is given into it
The wing plane that composition is formed into columns together.Wing plane receives unmanned aerial vehicle control centre and the instruction and execution of the main frame formed a team with it refer to
Order.Every frame unmanned plane comprises at least two communication ports, and one is communication port with control centre, and one is mutual
Communication port.From the point of view of the priority of communication, for main frame, its communication channel priority with ground control centre is relatively
Height, and unmanned plane it is mutual communication channel priority it is relatively low.It is excellent for wing plane, its communication channel between main frame
First level is higher, and the communication channel priority between other unmanned planes is taken second place, the communication channel with unmanned aerial vehicle control centre
It is relatively low.
The network organization figure that the system framework of single rack unmanned plane and unmanned plane are formed into columns is disclosed, next illustrates one
The display control of lower unmanned plane.For the display control of single rack unmanned plane, its realization is very simple, and principle is exactly television set, or
Flat-panel monitor of the person with USB playing functions, or possess network flow-medium playing function.If two framves or multiple UAVs group
It is combined and is shown, then needs to carry out picture segmentation and simultaneous display.
For display picture, typically there are three kinds of schemes, the first is to store display content in every frame unmanned plane, it is necessary to aobvious
When showing, simultaneous display；Second scheme is to use Wireless Display technology, i.e., the image frame that will be shown is wirelessly
Send, such as WIFI DISPLAY technologies, display device receives and simultaneous display；The third mode is stream media mode, display dress
Put and obtained by accessing streaming media server and cache display content, and synchronously played according to the reproduction time of setting.For
A kind of mode, it only needs display synchronous with the external world, in actual displayed, hardly consumes external resource, reliability compared with
Height, shortcoming are that the flexibility of display content is inadequate, and display content must be copied in the memory cell of each frame unmanned plane.Second
Kind scheme display content is more flexible, can uniformly be broadcast by ground control centre, but compares consumption bandwidth, and due to receiving
Delay, realize that synchronous play of multiple UAVs has difficulty.The third mode display content flexibility is enough, simultaneous display
It is easily controlled, when because display content is by network transmission, being had no problem when network environment is good, but if network environment
It is interfered, then can influences the broadcasting of display content, reliability is somewhat poor.The present invention uses the first and the third scheme.
The behavior of unmanned plane display performance has two kinds, and a kind of is the display performance in formation forming process, and another kind is to compile
Display performance of the formation after.The spatial geometric shape of formation and corresponding display content are all set in advance, formation spaces
The flight path of unmanned plane can also be planned and optimized in advance when geometry changes.
Figure 10 is the control flow of UAV Formation Flight.First, unmanned aerial vehicle control centre setting unmanned plane is formed into columns
Geometry, then, when unmanned aerial vehicle center switches according to the geometry computations of two neighboring formation each frame nobody
The flight path of machine, then flight path of the single rack unmanned plane of calculating in whole performance is sent to the unmanned plane, then
Single rack unmanned plane flies according to the flight path received.The flight path of unmanned plane includes time, flight coordinate, flying speed
And heading etc., and ensure to collide between unmanned plane during formation switching.Although by logical between unmanned plane
Letter or other technologies means such as ultrasonic wave, image recognition can solve the mutual collision between unmanned plane, but to causing nothing
The complexity of man-machine system rises, and increases the weight of unmanned plane.Good flight path planning and optimization can greatly reduce nothing
Collision between man-machine.
In order that the control of unmanned plane is easy and reduces the energy expenditure of unmanned plane, best bet is to reduce formation to change
The number of change, form into columns more than enough can show a period of time each time after being formed, and the requirement of the display dot matrix so to unmanned plane is exactly
It is as more as possible, and be beneficial to splice and combine.The array of display best mode of unmanned plane is plane, and shape can be rectangle and pros
Shape etc., these flat shapes can also be combined into different three-dimensional shapes, such as cuboid and square.If the display of unmanned plane
Array is spheroid, and it shows that dot matrix is difficult homogenization, it is also difficult to carrying out splicing and combining display together with other unmanned planes.The present invention
It is preferred that use planar rectangular.
Figure 11 is the flow chart that unmanned plane of the present invention combines display picture.In order to be combined using multiple UAVs tiled display
Cheng Geng great picture is shown, it is necessary to carry out segmentation to display picture.First, it is determined that the picture to be shown and display time, then,
Determine the space coordinates scope of unmanned plane formation display, space coordinates of the image projection that will be shown to unmanned plane formation display
Scope, so, every frame unmanned plane need to show that what picture determines that, then, every frame unmanned plane exists according to its current location
The relative position of space coordinates scope and the size of display screen, determine the image content of its display；Then, the unmanned plane root
Start to show the image content of its determination according to the predetermined display time, after the display time of setting terminates, the unmanned plane terminates
The picture of the determination is shown, and starts the display of new picture.
Figure 12 is the schematic diagram that unmanned plane display picture of the present invention determines.Display picture 61 is projected to unmanned plane and formed into columns and is shown
In the space coordinates scope 62 shown, because every frame unmanned plane has a position of planning, and every frame unmanned plane all know it is current
Display content, the can of unmanned plane 63,64,65 and 66 shown in this master drawing are sat according to its own position in whole display space
Mark the relative position of scope and the screen size of display calculates respective display picture.Advantage of this is that can basis
The position of unmanned plane and screen size dynamic carry out display content planning, are adapted to the unmanned plane combination with different display screens aobvious
Show, and when unmanned plane can not be accurate to up to simultaneously latched position, it can dynamically adjust display content, convenient display control
System.
It is pointed out that occur that formation integral translation or formation change in performing due to unmanned plane, before
Described display space coordinate range is real-time, can be changed according to the change of unmanned plane flight pattern.
Say how to carry out picture segmentation above, described how to carry out picture synchronization below.The synchronization of picture includes row field
Synchronous, because the distance of unmanned plane performance is remote, and the splicing of unmanned plane is also inaccurate, spacing in decimetre or meter level scope,
Row is synchronous to be not necessarily to, it is also difficult to is accomplished, therefore it may only be necessary to keep field synchronization, i.e., each frame picture being capable of simultaneous display
.Standard HDTV image mostly line by line 50Hz or 60Hz, by taking 50Hz as an example, the display time of each width picture is
0.02 second, if field time synchronization accuracy is if 0.002 second, human eye fundamental sensation less than different unmanned plane pictures switch when
Between it is poor, even the image of high dynamic.In terms of this magnitude, pass through the signal systems control center of position location satellite or unmanned plane
Periodic time synchronized is carried out, the time synchronized of all unmanned planes in forming into columns is kept, according to the time after synchronization and figure
As broadcast start time, it is possible to determine currently playing picture.
The segmentation and display of picture when illustrating that unmanned plane formation is performed above with the flat unmanned plane of the present invention.Its
Real, for the rotor wing unmanned aerial vehicle of existing each unmanned plane manufacturer, the present invention can also apply.FPD is coupled by head
Device, its coupling part include mechanical attachment interface, the drive control interface and power interface of flat-panel monitor.Joined by machinery
Connection interface detachably couples flat-panel monitor, and connecting mode can be nut screw connection, buckle connection or magnetic force connection
Deng after head couples flat-panel monitor, by controlling the posture can of head to control the angle of flat-panel monitor；Pass through drive
The driving interface of the display of dynamic control interface control flat-panel monitor, drive control interface and flat-panel monitor is adapted；Power supply
Interface is powered for flat-panel monitor.There are these interfaces, control FPD just has no problem, then is equipped with before the present invention and is retouched
The method stated, it is possible to the display of high-quality screen when realizing formation flight, and with good fit.
It should be understood that in embodiments of the present invention, the size of the sequence number of above-mentioned each process is not meant to the elder generation of execution sequence
Afterwards, the execution sequence of each process should be determined with its function and internal logic, the implementation process structure without tackling the embodiment of the present invention
Into any restriction.
Those of ordinary skill in the art are it is to be appreciated that each example described with reference to the embodiments described herein
Device and algorithm steps, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions
Performed actually with hardware or software mode, application-specific and design constraint depending on technical scheme.Professional technique
Personnel can realize described function using distinct methods to each specific application, but this realization should not be recognized
To be beyond the scope of this invention.
Claims (10)
1. a kind of unmanned plane, including unmanned plane body and the pod apertures on body, spiral is installed in the pod apertures
Oar, it is characterised in that the pod apertures are arranged from the top air inlet of the unmanned plane body from the side of the unmanned plane body
Gas, the bottom of the unmanned plane are provided with flat panel display unit.
2. unmanned plane as claimed in claim 1, it is characterised in that the flat panel display unit is outer with the unmanned plane body
Zhou Pingqi, the flat panel display unit profile are planar rectangular；The flat panel display unit is OLED display unit.
3. unmanned plane as claimed in claim 1, it is characterised in that UAV Landing guarantor is provided with the outside of the uav bottom
Protect support.
4. the unmanned plane as described in any one in claims 1 to 3, it is characterised in that the unmanned plane hardware circuit also wraps
Reproduction time synchronization unit, positioning unit and display content memory cell are included, the reproduction time synchronization unit is fixed by the whole world
Position satellite system or the communication system of the unmanned plane carry out periodic time synchronized, are controlled by the time after the synchronization
The display content stored in the display content memory cell is put in record and broadcast, and the positioning unit is used for the sky for determining the unmanned plane
Between position.
5. a kind of unmanned plane, the unmanned plane includes rotor and head, it is characterised in that the head connects including mechanical attachment
Mouth, display drive control interface and power interface, detachably couple flat panel display unit by the mechanical attachment interface, lead to
The display of flat panel display unit described in display drive control Interface Controller is crossed, is supplied by power interface for the flat panel display unit
Electricity.
6. unmanned plane as claimed in claim 5, it is characterised in that it is synchronous that the unmanned plane hardware circuit also includes reproduction time
Unit, positioning unit and display content memory cell, the reproduction time synchronization unit by global positioning satellite system or
The communication system of the unmanned plane carries out periodic time synchronized, and the display is played by the time control after the synchronization
The display content stored in content storage unit, the positioning unit are used for the locus for determining the unmanned plane.
7. a kind of carry out unmanned plane formation display methods using unmanned plane claim 1 to 6 described, it is characterised in that the side
Method includes, and determines display picture and the display time of unmanned plane formation；Determine the space coordinates model of the unmanned plane formation display
Enclose, the display picture is projected to the space coordinates scope of the unmanned plane formation display；Unmanned plane is according to it described in every frame
Current location in the relative position of the space coordinates scope and the display screen size of the unmanned plane, determine it is described nobody
The display content of machine；The unmanned plane is according to the display content for showing its determination of time showing.
8. unmanned plane formation display methods as claimed in claim 7, it is characterised in that methods described also includes, during unmanned plane
Between synchronizing step, unmanned plane described in every frame pass through the communication system of global positioning satellite system or the unmanned plane carry out the cycle
The time synchronized of property.
9. unmanned plane formation display methods as claimed in claim 8, it is characterised in that the space coordinates scope is according to institute
State the change of unmanned plane flight pattern and change.
10. unmanned plane formation display methods as claimed in claim 8, it is characterised in that the unmanned plane form into columns in nobody
Machine has different display screen sizes.
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| CN110658849A (en) * | 2019-10-15 | 2020-01-07 | 深圳市中联讯科技有限公司 | Unmanned aerial vehicle formation light performance method |
| CN112506217A (en) * | 2020-11-19 | 2021-03-16 | 一飞(海南)科技有限公司 | Method for rapidly generating cluster unmanned aerial vehicle performance three-dimensional picture by using three-dimensional model |
| 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 |
| CN113232827A (en) * | 2021-05-19 | 2021-08-10 | 南京航空航天大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle for flight performance and multi-screen interconnected unmanned aerial vehicle formation |
| CN115027672A (en) * | 2022-05-18 | 2022-09-09 | 大连大学 | An aerial screen display system based on UAV array |
| WO2024041444A1 (en) * | 2022-08-25 | 2024-02-29 | 亿航智能设备（广州）有限公司 | Aircraft formation light show control method, electronic apparatus, and storage medium |
| WO2025002307A1 (en) * | 2023-06-29 | 2025-01-02 | 亿航智能设备（广州）有限公司 | Flight formation full-time sharing method and device, and computer-readable storage medium |
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