TWI742494B - Intelligent drone group flying image generation and calculation device - Google Patents
Intelligent drone group flying image generation and calculation device Download PDFInfo
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Abstract
一種智慧無人機群飛圖像產生演算裝置，其主旨在於運用美學藝術評價機制來建立具有圖像美學藝術的無人機群飛演出圖型。由於群飛以景物當畫布，以人文與在地文化故事為顏料，以科技技術為畫筆來盡情揮灑，強化無人機導引技術使飛行器可以沿著設計圖像與飛行軌跡路徑飛行避免碰撞，達到無人機舞蹈群飛目的，讓上百架無人機在天空揮灑創意圖案，不僅使人難忘圖型裡的文創意涵與減少無人機的損耗，更能避免飛行器在變換路徑中可能引起碰撞導致危險。因此本發明所產出的建議點圖，可將圖型進行合適的修改，讓群飛圖型能夠更加的凸顯出主題特色，也能讓無人機在飛行時降低耗損的風險。 A smart drone group flying image generation and calculation device, its main purpose is to use the aesthetic art evaluation mechanism to establish a drone group flying performance pattern with image aesthetic art. As Qunfei uses scenery as its canvas, humanities and local cultural stories as paints, and science and technology as paintbrushes, the UAV guidance technology is strengthened so that the aircraft can fly along the design image and flight path to avoid collisions. The purpose of the drone dance group flying is to let hundreds of drones sway creative patterns in the sky, which not only makes the text and creativity in the image unforgettable and reduces the loss of the drone, but also prevents the aircraft from changing paths that may cause collisions and cause danger. . Therefore, the suggested point map produced by the present invention can be modified appropriately, so that the group flying map can more highlight the theme characteristics, and it can also reduce the risk of loss during the flight of the drone.
Description
本發明係有關於一種智慧無人機群飛圖像產生演算裝置，尤指涉及一種藉由美學設計概念及搜集各式美學專家意見，運用最佳特徵點圖建立通用標準美學評價的推薦點圖資料庫，特別係指提供無人機編排點陣圖型之美學意涵評價使用者。 The present invention relates to an image generation and calculation device for intelligent drone group flying, and particularly relates to a recommended point map data that uses the best feature point map to establish a general standard aesthetic evaluation by using aesthetic design concepts and collecting various aesthetic expert opinions. The library, in particular, refers to the user who provides the aesthetic meaning of the drone layout dot pattern.
無人機因不需飛行員登機操作，而係通過遠端操控進行飛行，使其具有低成本與高運用彈性等特性，且能夠克服各種地形限制的問題，使得其被廣泛的應用在科學觀測、保護監控、通訊傳輸等領域。 Because drones do not require pilots to board and operate, they fly through remote control, making them low-cost and highly flexible, and can overcome various terrain limitations, making them widely used in scientific observations, Protection monitoring, communication transmission and other fields.
隨著科技進步，近年來更有業者將無人機應用於各種活動表演上，利用控制數部無人機於高空上排列出各種圖形、文字，且搭配各部無人機上所設置的發光源，而營造出各種炫麗的光彩變化。 With the advancement of science and technology, in recent years, more industry players have applied drones to various activities and performances. They used to control several drones to arrange various graphics and text at high altitude, and matched the luminous sources set on each drone to create A variety of dazzling brilliance changes.
鑑於無人機群飛表演係一種高科技的整合應用，隨著技術的提升，有著越來越多的變化及可能，目前的技術困難點在於機隊的量化以及美感藝術的呈現，機隊的量化部分與經費有關，目前一架飛機成本大約新台幣五萬元，數大便是美，飛機數量越多，建置的成本也相對越高，在編排表演上難度也會稍微增加；另外，美感的藝術呈現部分，以目前無人機演出的圖像製作流程來說，演出圖像是以參考圖像為範本使用軟體進行描圖後，自動設定為無人機的點圖，然而以軟體自動設定的點圖雖然有了參考圖像的輪廓，但是整體造 型並不好看，也無法凸顯主題的特色，還是需要人工的繪製與調整。 In view of the high-tech integrated application of drone swarm demonstration, with the improvement of technology, there are more and more changes and possibilities. The current technical difficulty lies in the quantification of the fleet, the presentation of aesthetic art, and the quantification of the fleet. Part of it is related to the cost. The current cost of an aircraft is about NT$50,000. The number is beautiful. The more the number of aircraft, the higher the cost of construction, and the difficulty in arranging the performance will increase slightly. In addition, the aesthetics For the artistic presentation part, based on the current image production process of drone performances, the performance image is based on the reference image as a template and is drawn with software, and then automatically set as the drone's dot image, but the software automatically sets the dot image Although the outline of the reference image is available, the overall construction The type is not good-looking, nor can it highlight the characteristics of the theme, it still needs manual drawing and adjustment.
由前述可知，描圖的技術還是要靠人工的部分來完成，然而因圖形美學屬於主觀評價，如何加入圖形美學藝術的觀點後重新繪製，使無人機編排點圖形能具有美學意涵，以在夜空中呈現場面壯闊的無人機表演之發明實有必要。 From the foregoing, it can be seen that the drawing technology still needs to be done manually. However, because the graphic aesthetics is subjective evaluation, how to add the point of view of graphic aesthetics and re-draw, so that the UAV layout point graphics can have aesthetic meaning, so that it can be used in the night sky. It is really necessary to present the invention of a spectacular drone show in this article.
本發明之主要目的係在於，克服習知技藝所遭遇之上述問題並提供一種藉由美學設計概念及搜集各式美學專家意見，運用最佳特徵點圖建立通用標準美學評價的推薦點圖資料庫，提供無人機編排點陣圖型之美學意涵評價使用之智慧無人機群飛圖像產生演算裝置。 The main purpose of the present invention is to overcome the above-mentioned problems encountered in the conventional arts and provide a recommended point map database that uses the best feature point map to establish a general standard aesthetic evaluation by using aesthetic design concepts and collecting various aesthetic expert opinions. , Provides a smart drone group flying image generation algorithm used for evaluating the aesthetic meaning of the UAV arrangement dot matrix pattern.
本發明之另一目的係在於，提供一種群飛以景物當畫布，以人文與在地文化故事為顏料，以科技技術為畫筆來盡情揮灑，強化無人機導引技術使飛行器可以沿著設計圖像與飛行軌跡路徑飛行避免碰撞，達到無人機舞蹈群飛目的，讓上百架無人機在天空揮灑創意圖案之智慧無人機群飛圖像產生演算裝置。 Another purpose of the present invention is to provide a group flying with scenery as the canvas, humanities and local cultural stories as the paint, and science and technology as the brush to sway it, and strengthen the drone guidance technology so that the aircraft can follow the design drawing. It is like flying with the flight trajectory to avoid collisions, achieving the purpose of drone dance group flying, allowing hundreds of drones to sway in the sky with creative patterns of intelligent drone group flying image generation calculation device.
本發明之另一目的係在於，提供一種運用評價構造法來蒐集美學專家對於圖型轉換成點圖之排列建議的美學專家評價，打造藝術評價規則，建立具有舞步藝術的描繪點圖推薦系統，藉以讓舞步設計師調整圖形，進而實際進行飛行之智慧無人機群飛圖像產生演算裝置。 Another object of the present invention is to provide an aesthetic expert evaluation that uses an evaluation construction method to collect aesthetic experts’ suggestions for the conversion of patterns into dot patterns, create art evaluation rules, and establish a drawing dot map recommendation system with dance steps. A calculation device for generating images of smart drones that allow the dance step designer to adjust the graphics and then actually fly.
為達以上之目的，本發明係一種智慧無人機群飛圖像產生演算裝置，係包括：一輸入單元，提供使用者針對群飛表演主題設定需要表現之圖型 依序輸入，同時設定一群飛機群數，並將對應該至少一圖型的至少一群飛實飛點圖依序輸入；一智慧物件分析單元，連接該輸入單元，用於接收使用者輸入之圖型、群飛機群數及群飛實飛點圖，依照設定之群飛機群數，以該圖型進行描圖後自動設定路徑為虛線描圖，完成以描繪點模擬無人機一初略舞步圖型的點圖；一圓弧視覺評估單元，連接該智慧物件分析單元，接收根據圓弧美學專家意見指定給各點圖之圓弧美學專家評價，使用該群飛實飛點圖與該圓弧美學專家意見對該初略舞步圖型的點圖執行圓弧重繪處理；一曲線視覺評估單元，連接該智慧物件分析單元，接收根據曲線美學專家意見指定給各點圖之曲線美學專家評價，使用該群飛實飛點圖與該曲線美學專家意見對該初略舞步圖型的點圖執行曲線重繪處理；一直線視覺評估單元，連接該智慧物件分析單元，用以依據一標準化呈各種角度方向之直線條，對各點圖執行直線重繪處理；一分色評估單元，連接該直線視覺評估單元，其利用人眼對光的視覺效應對各點圖執行一分色作業，彌補表演無人機在視覺感官心理上之不足，使映入人眼的點圖可根據色彩特色與視覺心理加以區隔辨識，用於創造一個明顯的圖型意象對應於各點圖；以及一人文特徵輔助單元，連接該分色評估單元，其內建在地人文特色，可根據一人文資訊地理區域所對應之在地人文特徵資訊，將已經由美學專家評價與分色之點圖運用最佳特徵方式結合人文與在地文化故事呈現，產生數幅符合視覺美感之建議舞步圖型的點圖供使用者選擇，俾以提供在地文化特色之推廣及具有圖像美學藝術的無人機群飛舞步(Drone Dancing)演出圖型。 In order to achieve the above objectives, the present invention is a smart drone group flying image generation and calculation device, which includes: an input unit, which provides the user with the graphics required to set the theme of the group flying performance Input sequentially, set the number of a group of aircraft groups at the same time, and input at least a group of flying point pictures corresponding to at least one pattern in sequence; a smart object analysis unit connected to the input unit for receiving the picture input by the user According to the set number of aircraft groups, the path will be automatically set as a dashed line drawing after tracing according to the set number of aircraft groups. The drawing point is used to simulate the initial dance step pattern of the drone. Point map; an arc visual evaluation unit, connected to the intelligent object analysis unit, receives the evaluation of the arc aesthetics expert assigned to each point map based on the opinion of the arc aesthetics expert, and uses the group of flying point maps and the arc aesthetics expert Opinions perform arc redrawing processing on the dot diagram of the preliminary dance step diagram; a curve visual evaluation unit, connected to the intelligent object analysis unit, receives the evaluation of the curve aesthetics expert assigned to each dot diagram according to the expert opinion of the curve aesthetics, and uses the The Qunfei real flying point map and the curve aesthetics expert opinion perform the curve redrawing process on the point map of the preliminary dance step pattern; the straight line visual evaluation unit is connected to the intelligent object analysis unit to be in various angle directions according to a standardization. Straight line, perform straight line redrawing processing on each point map; a color separation evaluation unit, connected to the linear vision evaluation unit, which uses the visual effect of the human eye on light to perform a color separation operation on each point map to compensate for the performance of the drone. The lack of visual sensory psychology makes it possible to distinguish and identify the dot images reflected in the human eye according to the color characteristics and visual psychology, which is used to create an obvious pictorial image corresponding to each dot image; and a humanistic feature auxiliary unit to connect The color separation evaluation unit, which has built-in local humanistic characteristics, can use the best characteristic method to combine humanities and humanities based on the local humanistic characteristics information corresponding to a humanistic information geographic area. The local cultural story is presented, and several dot pictures of the suggested dance step pattern conforming to the visual aesthetics are produced for users to choose, in order to provide the promotion of local cultural characteristics and the drone group with image aesthetics art (Drone Dancing) Performance pattern.
於本發明上述實施例中，該智慧物件分析單元包括一架構判斷模組，用以判斷該初略舞步圖型的點圖是否具有圓弧資料、曲線資料或及組合。 In the above-mentioned embodiment of the present invention, the intelligent object analysis unit includes a framework judgment module for judging whether the dot pattern of the preliminary dance step pattern has arc data, curve data, or a combination thereof.
於本發明上述實施例中，更包括一與該圓弧視覺評估單元連接之 圓弧視覺專家資料庫，其係運用評價構造法蒐集圓弧美學專家對於圖形轉換成點圖之排列建議，然後產生建議的圓弧排列並加以儲存的圓弧美學專家評價。 In the above-mentioned embodiment of the present invention, it further includes a visual evaluation unit connected to the arc The arc vision expert database uses the evaluation structure method to collect the arc aesthetics expert’s advice on the arrangement of graphics converted into dot graphs, and then generates and stores the arc aesthetic expert evaluations of the suggested arc arrangement.
於本發明上述實施例中，更包括一與該曲線視覺評估單元連接之曲線視覺專家資料庫，其係運用評價構造法蒐集曲線美學專家對於圖形轉換成點圖之排列建議，然後產生建議的曲線排列並加以儲存的曲線美學專家評價。 In the above-mentioned embodiment of the present invention, it further includes a curve vision expert database connected to the curve vision evaluation unit, which uses the evaluation construction method to collect the arrangement suggestions of the curve aesthetics experts for the graphs converted into dot graphs, and then generates the suggested curve Arranged and stored curvilinear aesthetics expert evaluation.
於本發明上述實施例中，該分色評估單元包括一供使用者操作以輸出一操作信號之操作介面、及一電連接該操作介面並接收該操作信號的控制模組，該操作介面具有數個分別對應該點圖之色彩區，該操作信號相關於使用者操作選擇的一個色彩區，該控制模組控制該點圖進行發光，且使該點圖顯示為所選擇之色彩區對應的色彩。 In the above-mentioned embodiment of the present invention, the color separation evaluation unit includes an operating interface for a user to operate to output an operating signal, and a control module electrically connected to the operating interface and receiving the operating signal, and the operating interface has data A color area corresponding to the dot image respectively, the operation signal is related to a color area selected by the user operation, the control module controls the dot image to emit light, and the dot image is displayed as the color corresponding to the selected color area .
1:輸入單元 1: input unit
2:智慧物件分析單元 2: Smart Object Analysis Unit
3:圓弧視覺評估單元 3: Arc visual evaluation unit
31:圓弧視覺專家資料庫 31: Arc Vision Expert Database
4:曲線視覺評估單元 4: Curve Vision Evaluation Unit
41:曲線視覺專家資料庫 41: Curve Vision Expert Database
5:直線視覺評估單元 5: Straight line vision evaluation unit
6:分色評估單元 6: Color separation evaluation unit
61:操作介面 61: Operation interface
62:控制模組 62: Control Module
7:人文特徵輔助單元 7: Humanistic features auxiliary unit
s11~s23:步驟 s11~s23: steps
第1圖，係本發明之智慧無人機群飛圖像產生演算裝置方塊示意圖。 Figure 1 is a block diagram of the intelligent drone group flying image generation and calculation device of the present invention.
第2圖，係本發明之智慧無人機群飛圖像產生演算流程示意圖。 Figure 2 is a schematic diagram of the calculation process of the intelligent drone group flying image generation algorithm of the present invention.
第3圖，係本發明之分色以凸顯圖型意象示意圖。 Figure 3 is a schematic diagram of the color separation of the present invention to highlight the image of the pattern.
第4圖，係本發明添加人文特徵分析所產生之舞步圖型示意圖。 Figure 4 is a schematic diagram of the dance step pattern generated by the addition of humanistic feature analysis of the present invention.
第5圖，係本發明之自動生成點圖系統模擬與實際群飛效果呈現示意圖。 Figure 5 is a schematic diagram showing the simulation and actual group flying effects of the automatic point map generation system of the present invention.
請參閱『第1圖~第5圖』所示，係分別為本發明之智慧無人機群飛圖像產生演算裝置方塊示意圖、本發明之智慧無人機群飛圖像產生演算流程示意圖、本發明之分色以凸顯圖型意象示意圖、本發明添加人文特徵分析所
產生之舞步圖型示意圖、以及本發明之自動生成點圖系統模擬與實際群飛效果呈現示意圖。如圖所示：本發明係一種智慧無人機群飛圖像產生演算裝置，係藉由美學設計概念及搜集各式美學專家意見，運用最佳特徵點圖建立通用標準美學評價的推薦點圖資料庫，提供無人機編排點陣圖型之美學意涵評價使用，本發明之裝置中包括一輸入單元1、一智慧物件分析單元2、一圓弧視覺評估單元3、一曲線視覺評估單元4、一直線視覺評估單元5、一分色評估單元6以及一人文特徵輔助單元7所構成。
Please refer to "Figures 1 to 5", which are the block diagrams of the intelligent drone group flying image generation and calculation device of the present invention, the schematic diagram of the intelligent drone group flying image generation and calculation process of the present invention, and the present invention. The color separation is used to highlight the schematic image of the graphic image, and the present invention adds the humanistic feature analysis method
The generated schematic diagram of the dance step pattern, as well as the schematic diagram of the simulation and actual group flying effect of the automatic point diagram generation system of the present invention. As shown in the figure: the present invention is a smart drone group flying image generation and calculation device, which uses the best feature point map to establish the recommended point map data for general standard aesthetic evaluation based on the aesthetic design concept and the collection of various aesthetic expert opinions. The library is used for the evaluation of the aesthetic meaning of the dot-matrix pattern of drones. The device of the present invention includes an input unit 1, a smart
上述所提之輸入單元1提供使用者針對群飛表演主題設定需要表現之圖型依序輸入，同時設定一群飛機群數，並將對應該至少一圖型的至少一群飛實飛點圖依序輸入。 The input unit 1 mentioned above provides the user with the sequential input of the graphics that need to be displayed according to the theme of the group flying show. At the same time, the number of a group of aircraft groups is set, and at least a group of flying point images corresponding to at least one graphic type are sequentially input. enter.
該智慧物件分析單元2連接該輸入單元1，用於接收使用者輸入之圖型、群飛機群數及群飛實飛點圖，依照設定之群飛機群數，以該圖型進行描圖後自動設定路徑為虛線描圖，完成以描繪點模擬無人機一初略舞步圖型的點圖。該智慧物件分析單元2包括一架構判斷模組，用以判斷該初略舞步圖型的點圖是否具有圓弧資料、曲線資料或及組合。
The smart
該圓弧視覺評估單元3連接該智慧物件分析單元2與一圓弧視覺專家資料庫31，該圓弧視覺評估單元3接收該圓弧視覺專家資料庫31根據圓弧美學專家意見指定給各點圖之圓弧美學專家評價，使用該群飛實飛點圖與該圓弧美學專家意見對該初略舞步圖型的點圖執行圓弧重繪處理。
The arc
該曲線視覺評估單元4連接該智慧物件分析單元2與一曲線視覺專家資料庫41，該曲線視覺評估單元4接收該曲線視覺專家資料庫41根據曲線美學專家意見指定給各點圖之曲線美學專家評價，使用該群飛實飛點圖
與該曲線美學專家意見對該初略舞步圖型的點圖執行曲線重繪處理。
The curve
該直線視覺評估單元5連接該智慧物件分析單元2，用以依據一標準化呈各種角度方向之直線條，對各點圖執行直線重繪處理。
The linear vision evaluation unit 5 is connected to the intelligent
該分色評估單元6連接該直線視覺評估單元5，其包括一操作介面61及一電連接該操作介面61之控制模組62。該分色評估單元6利用人眼對光的視覺效應對各點圖執行一分色作業，彌補表演無人機在視覺感官心理上之不足，使映入人眼的點圖可根據色彩特色與視覺心理加以區隔辨識，用於創造一個明顯的圖型意象對應於各點圖。
The color
該人文特徵輔助單元7連接該分色評估單元6，其內建在地人文特色，可根據一人文資訊地理區域所對應之在地人文特徵資訊，將已經由美學專家評價與分色之點圖運用最佳特徵方式結合人文與在地文化故事呈現，產生數幅符合視覺美感之建議舞步圖型的點圖供使用者選擇，俾以提供在地文化特色之推廣及具有圖像美學藝術的無人機群飛舞步(Drone Dancing)演出圖型。如是，藉由上述揭露之結構構成一全新之智慧無人機群飛圖像產生演算裝置。
The humanistic feature auxiliary unit 7 is connected to the color-
以下實施例僅舉例以供了解本發明之細節與內涵，但不用於限制本發明之申請專利範圍。 The following embodiments are only examples for understanding the details and connotation of the present invention, but are not used to limit the scope of patent application of the present invention.
當運用時，其整體流程如第2圖所示，首先如步驟s11、s12，使用者(如：舞步設計師)經由輸入單元1將群飛表演主題之圖型、飛行所需群飛機群數、以及對應該至少一圖型的群飛實飛點圖依序輸入至智慧物件分析單元2。於步驟s13中，該智慧物件分析單元2使用Adobe Illustrator作為圖像描圖的工具，依照所設定之群飛機群數，以該圖型進行描圖完成後，由軟體自動設
定路徑為虛線描圖(虛線10pt，空格45pt)，便完成以50個點模擬50台無人機一初略舞步圖型的點圖。於步驟s14中，該智慧物件分析單元2以架構判斷模組21判斷該初略舞步圖型的點圖，其架構中是否具有圓弧資料，當有圓弧資料係進入步驟s15，否則直接進入步驟s17進一步判斷是否具有曲線資料，當有曲線資料係進入步驟s18，否則直接進入步驟s20。另外，若該初略舞步圖型的點圖同時具有圓弧資料與曲線資料，則先於步驟s15中完成圓弧處理後再進入步驟s18中完成曲線處理，然後進入步驟s20。
When used, the overall process is as shown in Figure 2. First, as in steps s11 and s12, the user (such as a dance designer) uses the input unit 1 to input the pattern of the flying show theme and the number of aircraft groups required for the flight , And the Qunfei real-fly point images corresponding to at least one image type are sequentially input to the intelligent
於步驟s15中，係以圓弧視覺評估單元3將該初略舞步圖型的點圖進行繪製與調整。該圓弧視覺評估單元3接收來自步驟s16中圓弧視覺專家資料庫31運用評價構造法蒐集圓弧美學專家對於圖形轉換成點圖之排列建議，然後產生建議的圓弧排列並加以儲存的圓弧美學專家評價，使用該群飛實飛點圖與該圓弧美學專家意見對該初略舞步圖型的點圖執行圓弧重繪處理。
In step s15, the arc
於步驟s18中，係以曲線視覺評估單元4將該初略舞步圖型的點圖進行繪製與調整。該曲線視覺評估單元4接收來自步驟s19中曲線視覺專家資料庫41運用評價構造法蒐集曲線美學專家對於圖形轉換成點圖之排列建議，然後產生建議的曲線排列並加以儲存的曲線美學專家評價，使用該群飛實飛點圖與該曲線美學專家意見對該初略舞步圖型的點圖執行曲線重繪處理。
In step s18, the curve
於步驟s20中，係以直線視覺評估單元5依據一標準化呈各種角度方向之直線條，對原始初略舞步圖型的點圖，抑或已經由上述圓弧、曲線或其兩者重繪處理後的點圖執行直線重繪處理。完成後進入步驟s21。 In step s20, the straight line visual assessment unit 5 is based on a standardized straight line in various angle directions, and the original point diagram of the initial dance step pattern, or has been redrawn from the arc, curve or both of the above-mentioned arcs, curves, or both. Perform straight-line redraw processing for the dot graph. After completion, go to step s21.
於步驟s21中，係以分色評估單元6作為補償表演無人機不足所造成的視覺感官心理，藉由色彩特色與視覺心理，使圖型的意象更能明顯
足所造成的視覺感官心理，藉由色彩特色與視覺心理，使圖型的意象更能明顯呈現。該分色評估單元6以操作介面61提供使用者操作以輸出一操作信號至控制模組62執行一分色作業。該操作介面61具有數個分別對應該點圖之色彩區，該操作信號相關於使用者操作選擇的一個色彩區，該控制模組62控制該點圖進行發光，且使該點圖顯示為所選擇之色彩區對應的色彩。如第3圖所示，圖(A)為群飛表演主題設定之圖型，圖(B)與(C)單一純色圖型的點圖不易區隔出實踐大學校徽「SC」兩個英文字母，藉由本發明分色方法，在圖(D)中「SC」兩個英文字母能較易被辨識出來，以達到較佳之視覺效果。完成後進入步驟s22。
In step s21, the color
於步驟s22中，係以人文特徵輔助單元7內建的在地人文特色，根據一人文資訊地理區域所對應之在地人文特徵資訊，將已經由上述美學專家評價與分色之點圖運用最佳特徵方式結合人文與在地文化故事呈現，產生數幅符合視覺美感之建議舞步圖型的點圖供使用者選擇，進而實際進行飛行。其圖型效果如第4圖所示，透過人文特徵輔助單元7於點圖中加入頭飾與花錨等在地人文特徵，俾以提供在地文化特色之推廣及具有圖像美學藝術的無人機群飛舞步演出圖型。 In step s22, based on the local humanistic features built in the humanistic feature auxiliary unit 7, based on the local humanistic feature information corresponding to a humanistic information geographic area, the dot map that has been evaluated and color-coded by the above-mentioned aesthetic experts is best used. The best feature method combines humanistic and local cultural story presentations, and produces several dot patterns of suggested dance steps in accordance with the visual beauty for users to choose, and then actually fly. The graphic effect is shown in Figure 4. Through the human feature auxiliary unit 7, local human features such as headwear and flower anchors are added to the dot map to provide the promotion of local cultural characteristics and drones with image aesthetics. Group flying dance performance pattern.
待點陣圖型完成後進入步驟s23，經由無人機控制軟體建構表演內容之機群數量及關鍵影格，利用軟體之高速運算能力，演算出完整路徑，並搭配燈號變換效果。其中若建構的機群數量大於原先設定的群飛機群數，則回步驟s13再重新操作。 After the dot matrix pattern is completed, proceed to step s23. Use the drone control software to construct the number of aircraft groups and key frames of the performance content. Use the high-speed computing power of the software to calculate the complete path and match the light signal transformation effect. Among them, if the number of constructed aircraft groups is greater than the originally set number of aircraft groups, go back to step s13 and perform the operation again.
由於群飛舞步的設計係決定整場群飛燈光表演的成敗關鍵。透過本發明提出以美學藝術評價機制來建立出智慧無人機群飛圖像產生演算裝置，藉由實際群飛舞步圖型與美學專家評價建議的美學圖型來建立舞步圖型之最佳 點圖。其中美學專家評價部分係運用前述之評價構造法來蒐集美學專家對於圖型轉換成點圖之排列建議，打造藝術評價規則，建立具有舞步藝術的描繪點圖推薦系統，藉以讓舞步設計師調整圖形，進而實際進行飛行。 Because the design of the Qun Fei dance step determines the success or failure of the entire Qun Fei light show. The present invention proposes to use an aesthetic art evaluation mechanism to establish a smart drone group flying image generation calculation device, and establish the best dance step pattern based on the actual group flying step pattern and the aesthetic pattern suggested by aesthetic experts. Point map. Among them, the aesthetic expert evaluation part uses the aforementioned evaluation structure method to collect the arrangement suggestions of aesthetic experts on the conversion of the pattern into the dot map, build the art evaluation rules, and establish a recommendation system for the drawing dot map with dance step art, so as to allow the dance step designer to adjust the graphics , And then actually fly.
本發明可建構在一智慧型自動生成點圖系統中，由該智慧型自動生成點圖系統模擬與實際群飛成果圖形如第5圖(A)、(B)所示，飛機數為50台。 The present invention can be constructed in an intelligent automatic point map generation system. The simulation and actual group flight result graphics by the intelligent automatic point map generation system are shown in Figure 5 (A) and (B). The number of aircraft is 50. .
本發明智慧無人機群飛圖像產生演算裝置主旨在於運用美學藝術評價機制來建立具有圖像美學藝術的無人機群飛演出圖型。由於群飛以景物當畫布，以人文與在地文化故事為顏料，以科技技術為畫筆來盡情揮灑，強化無人機導引技術使飛行器可以沿著設計圖像與飛行軌跡路徑飛行避免碰撞，達到無人機舞蹈群飛目的，讓上百架無人機在天空揮灑創意圖案，不僅使人難忘圖型裡的文創意涵與減少無人機的損耗，更能避免飛行器在變換路徑中可能引起碰撞導致危險。因此本發明所產出的建議點圖，可將圖型進行合適的修改，讓群飛圖型能夠更加的凸顯出主題特色，也能讓無人機在飛行時降低耗損的風險。 The main purpose of the intelligent drone group flying image generation and calculation device of the present invention is to use an aesthetic art evaluation mechanism to establish a drone group flying performance pattern with image aesthetic art. As Qunfei uses scenery as its canvas, humanities and local cultural stories as paints, and science and technology as paintbrushes, the UAV guidance technology is strengthened so that the aircraft can fly along the design image and flight path to avoid collisions. The purpose of the drone dance group flying is to let hundreds of drones sway creative patterns in the sky, which not only makes the text and creativity in the image unforgettable and reduces the loss of the drone, but also prevents the aircraft from changing paths that may cause collisions and cause danger. . Therefore, the suggested point map produced by the present invention can be appropriately modified, so that the group flying map can more highlight the theme characteristics, and it can also reduce the risk of loss of the UAV during flight.
綜上所述，本發明係一種智慧無人機群飛圖像產生演算裝置，可有效改善習用之種種缺點，係運用美學藝術評價機制來建立具有圖像美學藝術的無人機群飛演出圖型，使群飛以景物當畫布，以人文與在地文化故事為顏料，以科技技術為畫筆來盡情揮灑，透過強化無人機導引技術使飛行器可以沿著設計圖像與飛行軌跡路徑飛行避免碰撞，達到無人機舞蹈群飛目的，讓上百架無人機在天空揮灑創意圖案，進而使本發明之產生能更進步、更實用、更符合使用者之所須，確已符合發明專利申請之要件，爰依法提出專利申請。 In summary, the present invention is a smart drone group flight image generation algorithm, which can effectively improve various shortcomings of conventional use. It uses an aesthetic art evaluation mechanism to establish a drone group flight performance pattern with image aesthetics. Make Qunfei use the scenery as the canvas, humanities and local cultural stories as the paint, and science and technology as the brush to sway it to the full. By strengthening the drone guidance technology, the aircraft can fly along the design image and flight trajectory to avoid collisions. To achieve the purpose of drone dance group flying, let hundreds of drones sway creative patterns in the sky, so that the production of the present invention can be more advanced, more practical, and more in line with the needs of users, and it has indeed met the requirements of an invention patent application. Yan filed a patent application in accordance with the law.
惟以上所述者，僅為本發明之較佳實施例而已，當不能以此限定 本發明實施之範圍；故，凡依本發明申請專利範圍及發明說明書內容所作之簡單的等效變化與修飾，皆應仍屬本發明專利涵蓋之範圍內。 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:輸人單元 1: Input unit
2:智慧物件分析單元 2: Smart Object Analysis Unit
3:圓弧視覺評估單元 3: Arc visual evaluation unit
31:圓弧視覺專家資料庫 31: Arc Vision Expert Database
4:曲線視覺評估單元 4: Curve Vision Evaluation Unit
41:曲線視覺專家資料庫 41: Curve Vision Expert Database
5:直線視覺評估單元 5: Straight line vision evaluation unit
6:分色評估單元 6: Color separation evaluation unit
61:操作介面 61: Operation interface
62:控制模組 62: Control Module
7:人文特徵輔助單元 7: Humanistic features auxiliary unit
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| CN107065922A (en) * | 2017-02-14 | 2017-08-18 | 中国科学院自动化研究所 | Multiple no-manned plane formation formation method based on formation storehouse |
| CN109799842A (en) * | 2019-01-28 | 2019-05-24 | 南京航空航天大学 | A kind of multiple no-manned plane sequence flight control method |
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