CN107561949A - A kind of unmanned plane interacted system and its interconnected method - Google Patents
A kind of unmanned plane interacted system and its interconnected method Download PDFInfo
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- CN107561949A CN107561949A CN201710714475.0A CN201710714475A CN107561949A CN 107561949 A CN107561949 A CN 107561949A CN 201710714475 A CN201710714475 A CN 201710714475A CN 107561949 A CN107561949 A CN 107561949A
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Abstract
Present invention is disclosed a kind of unmanned plane interacted system and its interconnected method, possesses the unmanned plane of camera function including at least two framves, any unmanned plane is provided with ground control terminal, ground control terminal is provided with virtual sports module, any ground control terminal is interconnected by module of virtually racing, virtual sports module includes the movement instruction that three-dimensional sports are simulated space and matched with unmanned plane and simulated, there is the display window for being used for the intervention of unmanned plane vision, display window includes three-dimensional sports and simulates the preposition scene in space and unmanned plane shooting background in three-dimensional sports simulation space.The ground control terminal of the present invention carries virtual sports module, realizes the interactive cooperation between unmanned plane.Display window possesses the preposition scene in three-dimensional sports simulation space and unmanned plane shooting background, and user's substitution sense is stronger, interactive more true to nature.Possess the analog parameter setting of two kinds of movement instruction simulations, the application of applicable unified parameters or difference parameter.
Description
Technical field
The present invention relates to a kind of unmanned plane interacted system, more particularly to a kind of unmanned plane interacted system and its interconnected method,
Belong to the interactive technical field of unmanned plane.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself, Huo Zheyou
Car-mounted computer fully or intermittently independently operates.
Being improved with the living standard of people, the user of unmanned plane is more and more, and to the functional requirement day of unmanned plane
Benefit is incremented by, especially during the interactive cooperation of unmanned plane.
In the prior art, the interactive cooperation of unmanned plane is only limitted to clustered control, can realize the work(such as programming flight, percussion instrument
Can, but not belong to the required interactive cooperation category of people.So-called interactive cooperation refers to that unmanned plane is in the feelings in strange land
Condition can still realize the substitution sense of interactive cooperation, and this is that prior art is lacked.
The content of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, traditional unmanned plane can not realize that interconnects asks
Topic, there is provided a kind of unmanned plane interacted system and its interconnected method.
First purpose of the present invention is：A kind of unmanned plane interacted system is proposed, including at least two framves possess shooting
The unmanned plane of function, any unmanned plane are provided with ground control terminal,
The ground control terminal is provided with virtual sports module, and any ground control terminal is mutual by the virtual sports module interconnection
It is logical,
The virtual sports module includes the movement instruction that three-dimensional sports are simulated space and matched with the unmanned plane and simulated,
There is the display window for being used for unmanned plane vision intervention, the display window bag in the three-dimensional sports simulation space
The preposition scene in three-dimensional sports simulation space and unmanned plane shooting background are included,
After unmanned plane vision intervenes, the movement instruction simulation controls the display window in the three-dimensional sports simulation space
Interior guiding movement.
Preferably, the unmanned plane being provided with the three-dimensional sports simulation space when being intervened with the unmanned plane vision matches
Unmanned plane it is virtual, spatial data of the unmanned plane virtually with the unmanned plane matches, movement instruction simulation it is dynamic
The kinetic parameter of force parameter and the unmanned plane matches.
Preferably, possess unmanned plane in the display window virtually to show.
Preferably, it is provided with the three-dimensional sports simulation space and determines navigation journey for limit the unmanned plane running orbit
Track.
Preferably, the ground control terminal includes VR equipment or possesses the mobile control terminal of screen display.
Second object of the present invention is：Propose a kind of interconnected method of unmanned plane interacted system, including following step
Suddenly：
S1, virtual sports module interconnecting steps, realized by the virtual sports module of ground control terminal between ground control terminal
Interconnect；
S2, unmanned plane vision intervention step, unmanned plane and ground control terminal, which are realized, to be connected, start unmanned plane and realize unmanned plane with
The interconnection of virtual sports module；
S3, interconnection sports step, the manipulation to unmanned plane is realized by ground control terminal, and movement instruction simulation is controlled according to ground
The manipulation at end processed realizes display window in the three-dimensional guiding movement raced in simulation space.
Preferably, the unmanned plane being provided with the three-dimensional sports simulation space when being intervened with the unmanned plane vision matches
Unmanned plane it is virtual, spatial data of the unmanned plane virtually with the unmanned plane matches, movement instruction simulation it is dynamic
The kinetic parameter of force parameter and the unmanned plane matches,
Step S2 includes spatial parameter matching step, after the intervention of unmanned plane vision, the virtual spatial data with unmanned plane of unmanned plane
Realize matching,
Step S3 includes kinematic parameter matching step, the kinetic parameter phase of the kinetic parameter and unmanned plane of movement instruction simulation
Match somebody with somebody so that the kinetic parameter of movement instruction simulation is consistent with the kinetic parameter of the unmanned plane.
Preferably, it is provided with the three-dimensional sports simulation space and determines navigation journey for limit the unmanned plane running orbit
Track,
Step S3 includes orbit determination movement step, is virtually navigated by water by movement instruction simulated implementation unmanned plane fixed in journey track effectively
It is mobile.
The beneficial effects are mainly as follows：
1. ground control terminal carries virtual sports module, the interactive cooperation between unmanned plane is realized.
2. display window possesses the preposition scene in three-dimensional sports simulation space and unmanned plane shooting background, user substitute into sense more
By force, it is interactive more true to nature.
3. possess the analog parameter setting of two kinds of movement instruction simulations, the application of applicable unified parameters or difference parameter.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of unmanned plane interacted system of the present invention.
Embodiment
The present invention provides a kind of unmanned plane interacted system and its interconnected method.Technical solution of the present invention is carried out below detailed
Description, so that it is more readily understood and grasped.
A kind of unmanned plane interacted system, including at least two framves possess the unmanned plane of camera function, and any unmanned plane is provided with ground
Face control terminal, ground control terminal are provided with virtual sports module, and any ground control terminal is interconnected by module of virtually racing, such as
Shown in Fig. 1, virtual module of racing includes three-dimensional sports and simulates space 1 and the movement instruction to match with unmanned plane simulation 2, three-dimensional
There is the display window 3 for being used for the intervention of unmanned plane vision, it is empty that display window 3 includes three-dimensional sports simulation in sports simulation space 1
Between preposition scene and unmanned plane shooting background 4, after unmanned plane vision intervene, movement instruction simulation 2 control display windows three
Guiding movement in dimension sports simulation space 1.
Further illustrating, unmanned plane communicates with ground control terminal and is connected, and ground control terminal possesses wireless communication function,
The virtual sports module of any ground control terminal is realized by wireless telecommunications to interconnect, ground control terminal and virtual sports module
After connection, display window 3 is intervened in three-dimensional sports simulation space 1, and unmanned plane shooting background 4 is aobvious by ground control terminal intervention
Show form 3, the three-dimensional sports simulation preposition scene in space is realized compound with unmanned plane shooting background.Specifically describe, three-dimensional sports
The virtual display figure that the simulation preposition scene in space possesses can be presented on the front end of display window 3, and unmanned plane shooting background 4 is made
For the background of display window 3.Realize that the linkage to display window 3 and unmanned plane manipulates by movement instruction simulation 2, i.e. motion refers to
One instruction of order simulation 2 is acted on to unmanned plane and display window 3 simultaneously.
Possess two kinds of forms to the analog parameter of movement instruction simulation 2：
First, the operating parameter that movement instruction simulates 2 pairs of display windows 3 is constant, i.e. the analogue data and nothing of movement instruction simulation 2
The man-machine manipulation data of itself distinguish, and any ground control terminal realizes that the control of display window 3 is constant, and for unmanned plane
Control is consistent with ground control terminal constant.In this way, when carrying out interactive cooperation by module of virtually racing, will not be because of unmanned plane
Power has differences, and the only movement of unmanned plane shooting background has differences.
Second, three-dimensional sports are simulated and the unmanned plane void that unmanned plane when being intervened with unmanned plane vision matches are provided with space
Intend 5, possess virtual 5 display of unmanned plane in display window, the spatial data of unmanned plane virtual 5 and unmanned plane matches, and motion refers to
The kinetic parameter of order simulation 2 and the kinetic parameter of unmanned plane match.Virtual Space and real space match parameters are realized,
Reality is mobile more excellent with simulation space mobile phase uniformity, substitution sense.
It is provided with three-dimensional sports simulation space and determines navigation journey track 6 for limit the unmanned plane running orbit, nobody
Machine can navigate by water journey track 6 surely according to this and carry out planning enforcement.
Ground control terminal includes VR equipment or possesses the mobile control terminal of screen display.
It is a kind of interconnected method of unmanned plane interacted system of this case below, comprises the following steps：
Virtual sports module interconnecting steps, the interconnection between ground control terminal is realized by the virtual sports module of ground control terminal
Intercommunication, that is, realize two ground control terminals while intervene initial display window, the locking of now initial display window；
Unmanned plane vision intervenes step, and unmanned plane and ground control terminal, which are realized, to be connected, and starts unmanned plane and realizes unmanned plane and void
Intend the interconnection of sports module, now unmanned plane shooting background intervention display window, display window unblock；
Interconnection sports step, the manipulation to unmanned plane is realized by ground control terminal, and movement instruction simulation controls according to ground
The manipulation at end realizes display window in the three-dimensional guiding movement raced in simulation space.
Also include spatial parameter matching step, after the intervention of unmanned plane vision, the virtual spatial data with unmanned plane of unmanned plane
Matching is realized, this is for second of form of the analog parameter of movement instruction simulation 2, the kinetic parameter and nothing of movement instruction simulation
Man-machine kinetic parameter matches so that the kinetic parameter of movement instruction simulation is consistent with the kinetic parameter of the unmanned plane.
Finally, in addition to orbit determination movement step, by movement instruction simulated implementation unmanned plane virtually in fixed navigation journey track
It is interior effectively mobile, there is provided the limitation of running track, to add the interactive enjoyment of sports.
By above description it can be found that the ground control terminal of the present invention carries virtual sports module, unmanned plane is realized
Between interactive cooperation.Display window possesses the preposition scene in three-dimensional sports simulation space and unmanned plane shooting background, user's generation
Enter and feel stronger, it is interactive more true to nature.Possess the analog parameter setting of two kinds of movement instruction simulations, applicable unified parameters or difference ginseng
Several applications.
Above technical scheme fully describe, it is necessary to explanation is, specific embodiment party of the invention
Formula is simultaneously not limited by the description set out above, one of ordinary skill in the art according to the present invention Spirit Essence structure, method or
All technical schemes that function etc. is formed using equivalents or equivalent transformation, all fall within protection scope of the present invention
Within.
Claims (8)
1. a kind of unmanned plane interacted system, including at least two (list) framves possess the unmanned plane of camera function, any unmanned plane is provided with
Ground control terminal, it is characterised in that：
The ground control terminal is provided with virtual sports module, and any ground control terminal is mutual by the virtual sports module interconnection
It is logical,
The virtual sports module includes the movement instruction that three-dimensional sports are simulated space and matched with the unmanned plane and simulated,
There is the display window for being used for unmanned plane vision intervention, the display window bag in the three-dimensional sports simulation space
The preposition scene in three-dimensional sports simulation space and unmanned plane shooting background are included,
After unmanned plane vision intervenes, the movement instruction simulation controls the display window in the three-dimensional sports simulation space
Interior guiding movement.
A kind of 2. unmanned plane interacted system according to claim 1, it is characterised in that：Set in the three-dimensional sports simulation space
The unmanned plane for having unmanned plane when being intervened with the unmanned plane vision to match is virtual, the unmanned plane virtually with the unmanned plane
Spatial data match, the kinetic parameter of the kinetic parameter and the unmanned plane of movement instruction simulation matches.
A kind of 3. unmanned plane interacted system according to claim 2, it is characterised in that：Possesses unmanned plane in the display window
Virtual display.
A kind of 4. unmanned plane interacted system according to claim 1, it is characterised in that：Set in the three-dimensional sports simulation space
Have and determine navigation journey track for limit the unmanned plane running orbit.
A kind of 5. unmanned plane interacted system according to claim 1, it is characterised in that：The ground control terminal includes VR equipment
Or possesses the mobile control terminal of screen display.
6. one kind is based on the interconnected method of unmanned plane interacted system described in claim 1 ~ 5 any one, it is characterised in that including
Following steps：
S1, virtual sports module interconnecting steps, realized by the virtual sports module of ground control terminal between ground control terminal
Interconnect；
S2, unmanned plane vision intervention step, unmanned plane and ground control terminal, which are realized, to be connected, start unmanned plane and realize unmanned plane with
The interconnection of virtual sports module；
S3, interconnection sports step, the manipulation to unmanned plane is realized by ground control terminal, and movement instruction simulation is controlled according to ground
The manipulation at end processed realizes display window in the three-dimensional guiding movement raced in simulation space.
7. a kind of interconnected method of unmanned plane interacted system according to claim 6,
It is empty that the unmanned plane that unmanned plane when being intervened with the unmanned plane vision matches is provided with the three-dimensional sports simulation space
Intend, spatial data of the unmanned plane virtually with the unmanned plane matches, the kinetic parameter of the movement instruction simulation and institute
The kinetic parameter for stating unmanned plane matches,
It is characterized in that：
Step S2 includes spatial parameter matching step, after the intervention of unmanned plane vision, the virtual spatial data with unmanned plane of unmanned plane
Realize matching,
Step S3 includes kinematic parameter matching step, the kinetic parameter phase of the kinetic parameter and unmanned plane of movement instruction simulation
Match somebody with somebody so that the kinetic parameter of movement instruction simulation is consistent with the kinetic parameter of the unmanned plane.
8. a kind of interconnected method of unmanned plane interacted system according to claim 7,
It is provided with the three-dimensional sports simulation space and determines navigation journey track for limit the unmanned plane running orbit,
It is characterized in that：
Step S3 includes orbit determination movement step, is virtually navigated by water by movement instruction simulated implementation unmanned plane fixed in journey track effectively
It is mobile.
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Patent Citations (6)
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| CN103049934A (en) * | 2012-12-13 | 2013-04-17 | 航天科工仿真技术有限责任公司 | Roam mode realizing method in three-dimensional scene simulation system |
| CN104029825A (en) * | 2014-06-13 | 2014-09-10 | 中国人民解放军装甲兵工程学院 | Unmanned aerial vehicle system with in-site virtual-actual coupling |
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