Double-shaft omni-directional steering unmanned aerial vehicle laser lamp and control method thereof

Abstract

The invention relates to the technical field of performance lighting equipment, in particular to a double-shaft omni-directional steering unmanned aerial vehicle laser lamp and a control method thereof. The unmanned aerial vehicle laser lamp structure comprises a transmission device and a motor, the unmanned aerial vehicle laser lamp structure can rotate by 360 degrees along the X axis and the Y axis, magnetic fluid sealing rings are adopted for packaging, high waterproofness can be achieved, the unmanned aerial vehicle laser lamp is hung below a four-axis or six-axis unmanned aerial vehicle, a space light beam system capable of freely rotating is formed, all-dimensional irradiation is achieved, and the rich three-dimensional light beam effect is created. In addition, the flight control system of the unmanned aerial vehicle can be compatible with a small unmanned aerial vehicle performance control system, so that the unmanned aerial vehicle can be accurately integrated with other unmanned aerial vehicles and cooperate with formation performance. The visual level of unmanned aerial vehicle light show is improved, compared with traditional unmanned aerial vehicle laser equipment, the system can flexibly adjust the height and the angle, the defect that existing unmanned aerial vehicle air show lacks space light beams is effectively overcome, and a more dynamic and immersive light and shadow effect can be constructed in the air in combination with fine control.

Description

Technical Field

[0001] The present invention relates to the technical field of performance lighting equipment, and particularly to a drone laser light with two-axis omnidirectional steering and its control method. Background Art

[0002] In the current drone formation performance technology, LED dot matrices are mainly used as light sources to achieve visual effects. Although LED dot matrices have good pattern display capabilities, they have significant limitations in spatial expressiveness. Firstly, since LED point light sources do not have sufficient penetrability, the beam dimension is lacking, making it difficult to form a spatial beam effect with a sense of volume and depth, and unable to meet the growing demand for a stereoscopic visual experience. Secondly, existing mounted lamps usually only support single-axis rotation and lack multi-dimensional attitude adjustment capabilities, resulting in difficulties in achieving complex three-dimensional beam shapes and dynamic changes, limited lighting range, and the limited degree of freedom of movement restricts the diversity of drone lighting performance. Frequent adjustment of the drone's attitude is required to change the irradiation direction, increasing the operation difficulty and flight energy consumption. These technical defects have limited the further breakthrough of drone performances in terms of artistic expressiveness and visual impact to a certain extent, with a low degree of flexible irradiation of the target area and a large laser irradiation deviation, restricting the practicality and intelligent level of drone formation performances. Summary of the Invention

[0003] The present invention overcomes the deficiencies of the prior art and provides a drone laser light with two-axis omnidirectional steering and its control method.

[0004] To achieve the above object, the technical solution adopted by the present invention is as follows: In the first aspect of the present invention, a drone laser light with two-axis omnidirectional steering is provided, including a detachable platform: The detachable platform is carried under a four-axis wing drone. The detachable platform is fixedly connected to a top plate by bolts. A gimbal mechanism is installed at the bottom of the connection top plate. The gimbal mechanism includes a Y-axis steering mechanism. The Y-axis steering mechanism includes a Y-axis drive motor. The Y-axis drive motor is a micro harmonic reduction motor. The Y-axis drive motor is arranged on the Y-axis of the four-axis wing drone. The back of the Y-axis drive motor is fixed to the bottom end of the connection top plate. The output shaft of the Y-axis drive motor passes through and is fixed under a U-shaped nested universal joint, so that the Y-axis drive motor drives the U-shaped nested universal joint to rotate on the Y-axis. The U-shaped nested universal joint is made of carbon fiber material. An X-axis steering mechanism is nested in the U-shaped nested universal joint. A laser performance spotlight is provided in the X-axis steering mechanism. The laser performance spotlight is embedded between the nested plates on both sides of the U-shaped nested universal joint.

[0005] Further, in a preferred embodiment of the present invention, the two nested plates and the laser performance spotlight are horizontally connected through an inner drive bearing, so that the laser performance spotlight can rotate axially in a nested manner inside the U-shaped nested universal joint. One end of the inner drive bearing is fixed to the X-axis drive motor, and the X-axis drive motor is a micro brushless motor.

[0006] Further, in a preferred embodiment of the present invention, a magnetic fluid seal ring is provided at the rotating connection of the Y-axis drive motor and the U-shaped nested universal joint, and magnetic fluid seal rings are provided at the connections between the output shaft of the X-axis drive motor and the two nested plates on the U-shaped nested universal joint.

[0007] Further, in a preferred embodiment of the present invention, a main laser lamp is provided on the laser performance spotlight. The main laser lamp is used to emit the main laser beam required for the performance. The red light wavelength of the main laser beam is 638 nm to 650 nm, the green light wavelength is 520 nm to 532 nm, the blue light wavelength is 400 nm to 445 nm, the beam diameter is 3 mm to 8 mm, and the beam divergence angle is 1 mrad to 2.5 mrad.

[0008] Further, in a preferred embodiment of the present invention, a plurality of auxiliary laser lamps are provided beside the main laser lamp. The auxiliary laser lamps are used to separately or jointly supplement and cooperate with the RGB color mixing combination of the main laser beam to achieve the laser color mixing and joint control of the graphic projection.

[0009] Further, in a preferred embodiment of the present invention, a DMX512-A lighting decoding protocol module, a position feedback encoder, and a hybrid communication layer of the MAVLink flight control protocol are integrated inside the pan-tilt body of the laser performance spotlight.

[0010] Further, in a preferred embodiment of the present invention, a waterproof housing is installed above the U-shaped nested universal joint. A dynamic trimming module is provided inside the waterproof housing. The dynamic trimming module includes two lead screw brackets. A transmission lead screw is horizontally connected to the lead screw brackets. A counterweight is installed on the rod body of the transmission lead screw. Guide grooves are opened at both ends of the counterweight, and each of the two ends of the guide grooves is embedded in a guide groove. Each of the guide grooves is provided on both sides of the lead screw bracket. The counterweight is made of tungsten alloy material, and one end of the transmission lead screw is connected to a servo motor.

[0011] The second aspect of the present invention provides a control method for a drone laser lamp with two-axis omnidirectional steering, which is applied to any one of the drone laser lamps with two-axis omnidirectional steering, and includes the following steps: Obtain the performance task of the laser performance spotlight, and extract the laser dot matrix required to be projected by the laser performance spotlight and the two-dimensional fixed coordinate values of each laser beam in the laser dot matrix that are dynamically projected at a preset time sequence through the performance task; Define the laser beam points as neighborhood points, calculate the direct Manhattan distance between every two of the neighborhood points based on two-dimensional fixed coordinate values, use the direct Manhattan distance as the neighborhood chain edge, and construct a two-dimensional projection neighborhood graph for the laser beam points to perform based on connecting the neighborhood points with the neighborhood chain edge; Introduce the Dijkstra algorithm to calculate and find the shortest Manhattan distance of each pair of neighborhood points in the two-dimensional projection neighborhood graph to replace the direct Manhattan distance of the laser beam points. After searching, topologize the shortest Manhattan distance matrix of the two-dimensional projection neighborhood graph; Obtain the target three-dimensional region parameters of the projected laser dot matrix and the preset timing projection step length for each laser beam point to dynamically transform to the next laser beam point according to the performance task, and construct a three-dimensional global coordinate space for the laser dot matrix projection performance based on the target three-dimensional region parameters; Follow the preset timing projection step length to perform eigenvalue decomposition of centralization processing on the shortest Manhattan distance matrix, and generate a series of timing transformation eigenvalues and corresponding timing transformation eigenvectors for the dynamic projection of the laser dot matrix in different dimensions; Obtain a virtual mapping reference coordinate system based on big data, map and weight each timing transformation eigenvalue and timing transformation eigenvector to obtain multiple dynamically projected homogeneous coordinate points, and perform singular splitting solution of rotation and projection on each dynamically projected homogeneous coordinate point through the virtual mapping reference coordinate system to obtain the rotation matrix and projection orientation for the laser performance spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional region.

[0012] Further, in a preferred embodiment of the present invention, it is characterized in that the obtaining a virtual mapping reference coordinate system based on big data, mapping and weighting each timing transformation eigenvalue and timing transformation eigenvector to obtain multiple dynamically projected homogeneous coordinate points, and performing singular splitting solution of rotation and projection on each dynamically projected homogeneous coordinate point through the virtual mapping reference coordinate system to obtain the rotation matrix and projection orientation for the laser performance spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional region specifically includes the following steps: Bind and map each of the timing transformation eigenvalues with the corresponding timing transformation eigenvectors one by one for weighting to obtain the dynamically projected homogeneous coordinate points of each laser beam point projected from the two-dimensional plane to the three-dimensional space along with the preset timing transformation; Obtain a virtual mapping reference coordinate system regarding the target three-dimensional region parameters based on the big data network, and use the virtual mapping reference coordinate system to map and consider the linear combination between the two-dimensional fixed coordinate values of each laser beam point to generate a set of virtual mapping reference coordinate points for two-dimensional projection to three-dimensional; Combine the set of virtual mapping reference coordinate points with the two-dimensional fixed coordinate values to create a pose homogeneous equation, construct a dynamically projected homogeneous coordinate matrix based on each dynamically projected homogeneous coordinate point, and perform singular splitting projection solution on the dynamically projected homogeneous coordinate matrix through the pose homogeneous equation; Preset an allowable projection error threshold, continuously monitor the current projection error value of the three-dimensional dynamic projection pose of each laser beam during the singular splitting process. If the current projection error value is lower than the allowable projection error threshold, terminate the singular splitting process. At this time, output the rotation singular value and translation singular value of the projection solution. According to the rotation singular value and translation singular value, plan and adjust the rotation amplitude and projection vector of the laser show spotlight for the dynamic projection of each laser beam, and obtain the rotation matrix and projection orientation for the laser show spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional area.

[0013] Further, in a preferred embodiment of the present invention, the following steps are further included: Construct a three-dimensional simulation model of the gimbal mechanism, and based on the rotation matrix, control the three-dimensional simulation model in the PROE model software to perform a performance simulation of the projection orientation, so as to obtain the simulated inertial data of the gyroscope on the gimbal mechanism. Set the current attitude quaternion according to the rotation matrix, and convert the gravity vector in the global coordinate system to the UAV coordinate system according to the simulated rotation operation of the current attitude quaternion, so as to estimate the gravity vector of the rotation of the laser show spotlight and obtain the theoretical gravity direction. Extract the simulated gravity direction of the gyroscope acceleration through the simulated inertial data, calculate the vector error between the simulated gravity direction and the theoretical gravity direction, and obtain the attitude deviation degree of the laser show spotlight. Construct an integral deviation term for the rotation deviation of the simulated gravity compared with the theoretical gravity, obtain the multi-dimensional degree of freedom control criterion of the UAV, constrain the integral gain of the attitude deviation generated by the preset multi-dimensional control of the laser show spotlight according to the multi-dimensional degree of freedom control criterion, multiply the attitude deviation degree by the integral gain and accumulate it to the integral deviation term to obtain the cumulative integral deviation term. Obtain the multi-axis communication protocol of the UAV, retrieve the return-to-normal control logic of the UAV in the big data network based on the multi-axis communication protocol, identify the attitude deviation degree according to the return-to-normal control logic, output the offset ratio gain of the attitude rotation return-to-normal, and add the product of the attitude deviation degree and the offset ratio gain to the cumulative integral error term to generate an angular velocity correction term. Introduce the attitude quaternion differential equation of the quaternion algorithm. According to the angular velocity correction term, repeat the above steps of the cumulative integral error and angular velocity correction of the attitude deviation degree in the attitude quaternion differential equation to continuously update the current attitude quaternion and obtain a new attitude quaternion. Determine the relative projection attitude trajectory of the laser show spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional area according to the new attitude quaternion, and control the X-axis drive motor and Y-axis drive motor according to the relative projection attitude trajectory.

[0014] The present invention solves the technical defects existing in the background art, and the beneficial technical effects of the present invention are as follows: The present invention provides a drone laser light with dual-axis combined control of the X-axis and Y-axis, enabling the laser to achieve all-round controllable steering projection, having a highly flexible beam control ability, and capable of realizing precise dimming and directional irradiation in the horizontal and vertical directions. Through the dual-axis steering structure, the laser light can cover a wider space range, adapt to changing performance scenarios and angle requirements, and greatly improve the operation efficiency and practicality in drone performances. At the same time, this dual-axis structure can also effectively reduce the beam deviation caused by changes in the flight attitude, improving the stability and control accuracy of the overall drone performance. In addition, the laser performance spotlight of the present invention is provided with a main laser light and a plurality of auxiliary laser lights. Through the core content mapping of the main laser light and the cooperation of the auxiliary laser lights to enhance the spatial hierarchy and fill the visual blank of the main laser light, the overall visual fullness can be improved, jointly creating a richer and more shocking light and shadow visual effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0016] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the overall structure of the gimbal mechanism; Figure 3 is a schematic diagram of the first partial structure of the gimbal mechanism; Figure 4 is a schematic diagram of the installation structure of the U-shaped nested universal joint and the laser performance spotlight; Figure 5 is a schematic diagram of the second partial structure of the gimbal mechanism; Figure 6 is a schematic diagram of the overall structure of the dynamic trimming mechanism; Figure 7 is a schematic diagram of the partial structure of the counterweight.

[0017] The description of the reference numerals is as follows: 101, Quad-rotor wing UAV; 102, Detachable round platform; 103, Connecting top plate; 104, Y-axis drive motor; 105, U-shaped nested universal joint; 106, Laser show spotlight; 107, Inner drive bearing; 108, X-axis drive motor; 109, Magnetorheological seal ring; 201, Main laser lamp; 202, Auxiliary laser lamp; 203, Screw rod bracket; 204, Transmission screw rod; 205, Counterweight; 206, Guide groove; 207, Guide rail; 208, Servo motor; 209, Waterproof housing. Detailed implementation mode

[0018] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation modes. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0019] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0020] As Figures 1 - 7 shown, in the first aspect of the present invention, a drone laser lamp with a two-axis omnidirectional steering is provided, including a detachable platform 102: The detachable platform 102 is carried under the quad-rotor wing UAV 101. The detachable platform 102 is fixedly connected to the connecting top plate 103 by bolts. A gimbal mechanism is installed at the bottom of the connecting top plate 103. The gimbal mechanism includes a Y-axis steering mechanism. The Y-axis steering mechanism includes a Y-axis drive motor 104. The Y-axis drive motor 104 is a micro harmonic reduction motor. The Y-axis drive motor 104 is arranged on the Y-axis of the quad-rotor wing UAV 101. The back of the Y-axis drive motor 104 is fixed to the bottom end of the connecting top plate 103. The output shaft of the Y-axis drive motor 104 passes through and is fixed under the U-shaped nested universal joint 105, so that the Y-axis drive motor 104 drives the U-shaped nested universal joint 105 to rotate on the Y-axis.

[0021] The U-shaped nested universal joint 105 is made of carbon fiber material. An X-axis steering mechanism is nested in the U-shaped nested universal joint 105. The X-axis steering mechanism includes a laser show spotlight 106. The laser show spotlight 106 is embedded between the nested plates on both sides of the U-shaped nested universal joint 105.

[0022] It should be noted that the quick separation of the four-axis wing drone 101 from the gimbal mechanism can be achieved by the bolts connecting the top plate 103 and the detachable platform 102, which improves the maintenance and replacement rate and portability of the drone laser light. When it is necessary to irradiate the display area in the Y-axis coordinate system during the performance, the Y-axis drive motor 104 is controlled to start at this time. The output shaft of the Y-axis drive motor 104 rotates to drive the U-shaped nested universal joint 105 to rotate, and then the U-shaped nested universal joint 105 drives the laser performance spotlight 106 to swing by ±180° along the established axis of the Y-axis, solving the defect that the traditional laser light cannot project laser light in any specified direction of the Y-axis when carried on the drone, eliminating the technical shortcoming of poor light and shadow effects caused by the limited fixed angle of the lamp, and improving the plasticity and mapping diversity of the custom-defined three-dimensional light beam shape. Secondly, since the rotation of the Y-axis may cause the center of gravity of the drone flight to be unstable, and the micro harmonic reduction motor generally has a reduction ratio of 30:1 to 300:1, which enables the micro harmonic reduction motor to provide a large output torque density without increasing the equipment volume, thereby optimizing the motor torque, making the structure and control of the drone laser light more accurate, compact and lightweight, and increasing the gyroscope stability. In addition, the micro harmonic reduction motor mostly uses progressive gear meshing, with stable transmission, small impact, relatively low noise and vibration, which can greatly reduce the noise interference during the drone laser performance and improve the visual perception of the laser performance.

[0023] The two nested plates and the laser performance spotlight 106 are horizontally connected through an inner drive bearing 107, so that the laser performance spotlight 106 can rotate axially in a nested manner inside the U-shaped nested universal joint 105. One end of the inner drive bearing 107 is fixed to the X-axis drive motor 108, and the X-axis drive motor 108 is a micro brushless motor.

[0024] It should be noted that when the laser needs to irradiate any display area in the X-axis direction, the X-axis drive motor 108 is controlled to start. The X-axis drive motor 108 drives the inner drive bearing 107 to rotate at a constant speed or a variable speed, depending on the rhythm of the laser show content. As the inner drive bearing 107 rotates, the laser show spotlight 106 is driven to perform a 360° continuous rotation along the established axis of the X-axis in the groove of the U-shaped nested universal joint 105, so that the light of the laser show spotlight 106 irradiates the designated area in the X-axis direction. At the same time, in cooperation with the rotation control in the Y-axis direction, a two-axis full-range laser projection effect of the laser show spotlight is achieved, improving the performance limitation of traditional laser lamp devices that only support single-axis adjustment of projection, enhancing the full-range movement ability of the laser beam, expanding the coverage space of the laser, enabling the laser beam to freely shuttle, rotate and scan in space, realizing a 360° laser pattern and movement trajectory in a three-dimensional scene, and creating a dazzling three-dimensional visual effect. Due to the high conversion efficiency of the micro brushless motor, the control of the laser lamp on the X-axis is more accurate. At the same time, the energy loss increases due to the joint rotation torque, while the brushless motor can make the energy loss smaller, which is suitable for long-time lighting performance tasks. The friction noise of the brushless motor during operation is small, which is suitable for some quiet performance scenes. In addition, the brushless motor has a compact structure and a small volume, which can greatly reduce the overall weight of the drone and the flight deflection error rate during two-axis control, and has high reliability. Most of the traditional laser lamp control materials use alloy materials, which makes the structure too heavy and affects the flight quality of the drone. In contrast, the U-shaped nested universal joint 105 of the present invention is made of carbon fiber material, making the overall weight of the drone carrying the laser lamp more lightweight and optimizing the flight performance of the drone performance.

[0025] A magnetic fluid seal ring 109 is provided at the rotational connection between the Y-axis drive motor 104 and the U-shaped nested universal joint 105. Magnetic fluid seal rings 109 are provided at the connections between the output shaft of the X-axis drive motor 108 and the two nested plates on the U-shaped nested universal joint 105.

[0026] It should be noted that since some performance scenarios of the drone laser involve water environments, traditional drone laser devices do not have reasonable waterproof measures or the selected materials for waterproof components are poor, which makes the drone laser prone to damage the laser device during water performances, resulting in the laser device being unable to operate normally for irradiation and reducing the laser projection performance of the overall performance. In response to this, in the present invention, magnetic fluid seals 109 are installed at the rotating connection between the Y-axis drive motor 104 and the U-shaped nested universal joint 105, and at the nested connection between the X-axis drive motor 108 and the U-shaped nested universal joint 105. The magnetic fluid seal 109 can use a magnetic field to fix the magnetic fluid in the sealing gap to form a continuous liquid sealing barrier, thereby preventing gas or liquid from entering the inside of the rotating joint and avoiding damage to the control of the X-axis and Y-axis of the laser performance spotlight. Secondly, the magnetic fluid seal 109 can prevent external pollutants such as dust and moisture from entering the inside of the precision equipment, achieving excellent rotational dynamic auxiliary sealing with high airtightness. The drone laser light of the present invention can break through the performance limitations in harsh environments and enhance the diversified application of performance scenarios.

[0027] A main laser light 201 is provided on the pan-tilt body of the laser performance spotlight 106. The main laser light 201 is used to emit the main laser beam required for the performance. The red light wavelength of the main laser beam is 638 nm to 650 nm, the green light wavelength is 520 nm to 532 nm, the blue light wavelength is 400 nm to 445 nm, the beam diameter is 3 mm to 8 mm, and the beam divergence angle is 1 mrad to 2.5 mrad.

[0028] A plurality of auxiliary laser lights 202 are provided beside the main laser light 201. The auxiliary laser lights 202 are used to separately or jointly supplement and cooperate with the RGB color mixing combination of the main laser beam to achieve laser color mixing and joint control of graphic projection.

[0029] The inside of the pan-tilt body of the laser performance spotlight 106 is integrated with a DMX512-A lighting decoding protocol module, a position feedback encoder, and a hybrid communication layer of the MAVLink flight control protocol.

[0030] It should be noted that during the performance, the main laser lamp 201 of the laser performance spotlight 105 is controlled to emit the main laser beam to render the specified performance tasks. The main laser lamp 201 is usually responsible for the main visual effects and is used to project the core content, such as patterns, texts, LOGOs, etc. It is the core focus of the audience's line of sight. The main laser lamp 201 controls different parameters of the red light wavelength, green light wavelength, and blue light wavelength to generate a wide range of complex laser shapes such as sweeping, fan-shaped, conical, and grid-shaped. For example, a beam parameter control set with a red light wavelength of 644 nm, a green light wavelength of 525 nm, and a blue light wavelength of 430 nm is adopted, and at the same time, the beam is constrained within an emission range with a beam diameter of 5 mm and a beam divergence angle of 2 mrad; the beam is strong and has a wide range, suitable for long-distance performances, and can independently complete a variety of high-end visual effects. At the same time, the main laser lamp can be closely synchronized with the music rhythm changes to emphasize the climax part of the performance. The auxiliary laser lamp 202 can be lit separately or simultaneously with the main laser lamp 201 during the laser lamp performance. Through laser beams with different angles, colors, or frequencies, it enhances the spatial level of the overall light effect, thereby cooperating with or supplementing the presentation of some lighting content details of the main laser lamp 201 and providing visual supplementation for the uncovered areas to achieve the effect of filling the visual blank. In addition, multiple auxiliary laser lamps are arranged in an array. The array combination to be irradiated can be customized according to the performance content to select synchronous or staggered projection, forming a dynamic sense of enclosure, effectively improving the overall visual fullness, thereby further setting off and guiding the audience's line of sight and strengthening the main lamp performance effect.

[0031] A waterproof housing 209 is installed above the U-shaped nested universal joint 105. A dynamic balancing module is arranged inside the waterproof housing 209. The dynamic balancing module includes two screw rod brackets 203. A transmission screw rod 204 is horizontally connected to the screw rod brackets 203. A counterweight 205 is installed on the rod body of the transmission screw rod 204. Guide grooves 206 are opened at both ends of the counterweight 205. Each of the guide grooves 206 at both ends is embedded in a guide rail 207. Each guide rail 207 is arranged on both sides of the screw rod bracket 203. The counterweight 205 is made of tungsten alloy material. One end of the transmission screw rod 204 is connected to a servo motor 208.

[0032] It should be noted that during the performance of the laser show spotlight 106, due to the weightlessness phenomenon caused by the adjustment of the X-axis and Y-axis, it is prone to unstable flight of the drone and laser mapping. At this time, the servo motor 208 is controlled to start according to the direction of weightlessness. The output end of the servo motor 208 drives the transmission lead screw 204 to rotate. During the rotation, the counterweight 205 is driven by the threaded hole to perform a translational movement on the transmission lead screw 204, so that the counterweight 205 slides in the direction of weightlessness, thereby balancing the center of gravity of the drone in real time, eliminating the attitude deviation caused by the multi-axis deflection of the laser lamp, load change or external interference, and significantly improving the flight stability of the drone in response to laser adjustment weightlessness and the laser irradiation accuracy. During the translational movement of the counterweight 205 on the transmission lead screw, the guide grooves 206 on both sides thereof are guided and slid on the guide rail 207, thereby improving the sliding stability performance of the counterweight 205 and avoiding the trim control error of the counterweight 205 caused by vibration or flight weightlessness, and further optimizing the accuracy of dynamic trimming.

[0033] In addition, an infrared sensor and a hierarchical laser management component are provided on the drone laser lamp of the present invention. The infrared sensor can be linked with the hierarchical laser management component for control. The hierarchical laser management component realizes the intelligent adjustment of the laser output power by setting a dynamic power control mechanism with a range power of 2 meters. When the infrared sensor detects an obstacle within 10 meters, the hierarchical laser management component will automatically downgrade the laser output to a safer irradiation level, thereby effectively reducing the potential harm risk of the laser to the human body or objects. This mechanism not only ensures the safety of the operating environment, but also ensures the reliability and compliance of the equipment in complex application scenarios. An emergency fusing mechanism is also provided on the drone laser lamp of the present invention. The emergency fusing mechanism adopts a dual CAN bus architecture design, with high system redundancy and fault tolerance. When the main controller fails or malfunctions, the standby system can immediately take over the control right and automatically start the safe landing procedure to ensure that the equipment can still land smoothly and controllably under abnormal conditions. This mechanism significantly improves the operating safety and reliability of the whole machine, and effectively prevents accidental falls or damages caused by single-point failures.

[0034] The second aspect of the present invention provides a control method for a drone laser lamp with a two-axis omnidirectional steering, which is applied to any one of the drone laser lamps with a two-axis omnidirectional steering, and includes the following steps: Obtain the performance task of the laser show spotlight, and extract the laser dot matrix required by the laser show spotlight and the two-dimensional fixed coordinate values of each laser beam in the laser dot matrix dynamically projected at a preset time sequence through the performance task; Define the laser beam as a neighborhood point, calculate the direct Manhattan distance between every two of the neighborhood points based on the two-dimensional fixed coordinate values, use the direct Manhattan distance as the neighborhood chain edge, and construct a two-dimensional projection neighborhood graph when the neighborhood points are connected by the neighborhood chain edge to perform the performance. The Dijkstra algorithm is introduced to calculate and find the shortest Manhattan distance between each pair of neighborhood points in the two-dimensional projection neighborhood graph to replace the direct Manhattan distance of the laser beam. After searching, the shortest Manhattan distance matrix of the two-dimensional projection neighborhood graph is topologically obtained; According to the performance task, the target three-dimensional region parameters of the projected laser dot matrix and the preset time-sequential projection step length for each laser beam to dynamically transform to the next laser beam are obtained. Based on the target three-dimensional region parameters, a three-dimensional global coordinate space for laser dot matrix projection performance is constructed; The shortest Manhattan distance matrix is subjected to centralized processing and eigen-decomposition following the preset time-sequential projection step length to generate a series of time-sequential transformation eigenvalues and corresponding time-sequential transformation eigenvectors for the dynamic projection of the laser dot matrix in different dimensions; Based on big data, a virtual mapping reference coordinate system is obtained. The weighted time-sequential transformation eigenvalues and time-sequential transformation eigenvectors are mapped to obtain multiple dynamically projected homogeneous coordinate points. Through the virtual mapping reference coordinate system, the singular decomposition solution of rotation and projection is performed on each dynamically projected homogeneous coordinate point to obtain the rotation matrix and projection orientation for the laser performance spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional region.

[0035] It should be noted that for performance drones, it is particularly important whether the laser beam can be accurately projected onto the target area to achieve the expression of light and shadow or images. This not only requires the accurate projection mode of the laser lamp tube itself, but also requires the accurate angles, directions, and speeds of the rotation and projection of the laser lamp. However, the control method of traditional laser lamps has a low coordinate positioning accuracy for the time-sequence dynamic process of mapping the laser beam from the two-dimensional plane of the emission source to the target three-dimensional space to be displayed. As a result, it is impossible to clarify the rotation and projection orientations of the laser lamp on the X-axis and Y-axis during the flight control of the drone, making it difficult for the laser spot beam to be projected onto the expected display area, greatly reducing the light and shadow experience effect of the laser performance spotlight and cutting down the visual hierarchy of the drone light show. In response to this, this method constructs a two-dimensional projection neighborhood graph based on the two-dimensional fixed coordinate values of each laser spot beam required to be projected by the laser lamp in the dynamically projected preset time sequence, so as to quickly obtain the forms of emission, switching, and combination of the laser dot matrix by quantifying the projection differences between each pair of laser spot beams, providing a reliable basis for the two-dimensional light source transformation law for subsequent coordinate tracking from two dimensions to three dimensions. Among them, the two-dimensional projection neighborhood graph can avoid the problem of the failure of the Euclidean distance in high-dimensional spaces for non-linear structures by only retaining the connections between adjacent laser spot beams, such as non-linearly distributed mapping data such as laser projection, handwritten numbers, or face images. Then, the original direct Euclidean distance is replaced by the geodesic distance of the shortest path on the laser manifold, and the effect of replacing the direct Manhattan distance with the shortest Manhattan distance is used to more realistically reflect the distribution relationship of the laser dot matrix on the low-dimensional manifold, so as to be able to reveal the global non-linear structure of the laser emission. For example, when emitting a spiral laser dot distribution, the unfolded form on the manifold can be reflected by the shortest path distance, improving the interpretation accuracy of the two-dimensional coordinate mapping.

[0036] It should be noted that since most laser performances are accompanied by program effects and are constantly moving, this is a process in which the laser spot beams are dynamically transformed with time sequence. Therefore, the predetermined time sequence projection step length of each laser spot beam of the projected laser dot array is obtained in advance to further centralize the shortest Manhattan distance matrix, so as to ensure that the laser spot beam maintains accurate coordinate positioning time sequence from the two-dimensional coordinate to the three-dimensional space area. The two-dimensional coordinates of the laser spot beam are continuously centered by centralizing to remove the influence of the mean to form an inner product matrix. The inner product matrix can make the original laser spot beam linearly embedded in the high-dimensional space on the basis of the new shortest path distance matrix, thereby extracting the two-dimensional principal component information of the original laser dot array, realizing accurate feature decomposition of dynamic projection in different dimensions, making the distance relationship between the laser spot beams maintain the original geodesic structure as much as possible, and improving the dynamic tracking accuracy of the two-dimensional coordinate three-dimensional mapping. The eigenvalues and eigenvectors of the centralized matrix decomposition reveal the main mapping structure of the two-dimensional coordinates projected onto the specified three-dimensional point. Therefore, by mapping the weighted eigenvalues and eigenvectors of each time series transformation, multiple dynamic projection homogeneous coordinate points can be obtained to clarify the specific coordinate system position of the high-dimensional dynamic mapping. Finally, according to the mapping benchmark of the virtual mapping reference coordinate system, these coordinates can be disassembled and analyzed to plan the rotation amplitude and projection vector required for the laser show spotlight to project the two-dimensional laser spot beam to the three-dimensional target area. This method can optimize the dynamic coordinate capture accuracy of the laser beam projected from the two-dimensional plane to the three-dimensional display area. Compared with traditional methods, it can significantly improve the accurate depiction of the necessary projection posture of the laser show spotlight on different axes, reduce the mapping deviation of the laser show spotlight on the laser dot matrix in the dual-axis orientation, and improve the projection quality of the laser show.

[0037] Furthermore, in a preferred embodiment of the present invention, the virtual mapping reference coordinate system is obtained based on big data, and each time series transformation eigenvalue and time series transformation eigenvector are mapped and weighted to obtain multiple dynamic projection homogeneous coordinate points. The virtual mapping reference coordinate system is used to perform singular decomposition and solve the rotation and projection of each dynamic projection homogeneous coordinate point, and the rotation matrix and projection orientation of the laser performance spotlight projecting the laser dot matrix from the two-dimensional plane to the target three-dimensional area are obtained, which specifically includes the following steps: Each of the time sequence transformation characteristic values and the corresponding time sequence transformation characteristic vectors are bound and mapped weighted one by one to obtain a dynamically projected homogeneous coordinate point of each laser spot beam projected from a two-dimensional plane to a three-dimensional space along with a preset time sequence transformation; Based on the big data network, a virtual mapping reference coordinate system of target three-dimensional area parameters is obtained, and the linear combination of two-dimensional fixed coordinate values of each laser spot beam is considered by mapping the virtual mapping reference coordinate system to generate a two-dimensional projection three-dimensional virtual mapping reference coordinate point set; Create a pose homogeneous equation by combining the virtual mapping reference coordinate point set and the two-dimensional fixed coordinate values, construct a dynamic projection homogeneous coordinate matrix based on each dynamic projection homogeneous coordinate point, and perform a projection solution for singular decomposition of the dynamic projection homogeneous coordinate matrix through the pose homogeneous equation; Preset an allowable projection error threshold, continuously monitor the current projection error value of the three-dimensional dynamic projection pose of each laser beam during the singular decomposition process. If the current projection error value is lower than the allowable projection error threshold, terminate the singular decomposition process. At this time, output the rotation singular value and translation singular value of the projection solution; According to the rotation singular value and the translation singular value, plan and adjust the rotation amplitude and projection vector of the laser performance spotlight for the dynamic projection of each laser beam, and obtain the rotation matrix and projection orientation for the laser performance spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional area.

[0038] It should be noted that for the steps of disassembling and analyzing these dynamically projected homogeneous coordinate points according to the mapping reference of the virtual mapping reference coordinate system, the method first performs one-by-one mapping weighting of different dimensions on each time-series evolution eigenvalue and the corresponding time-series evolution eigenvector, so as to interpret the relative dynamic evolution positions between the laser beamlets to maximize the restoration of the initial traceability relationship. Furthermore, a complete expression of the homogeneous coordinates of the two-dimensional laser beamlets mapped to three dimensions along with the time series can be generated. Among them, homogeneous coordinates can facilitate unified linear matrix operations and improve the accuracy and robustness of the system's calculated attitude. Then, a virtual mapping reference coordinate system for the parameters of the target three-dimensional region is obtained, and according to this virtual mapping reference coordinate system, the mapping of the two-dimensional coordinates to the high-dimensional reference benchmark is specified to linearly combine the mapping of the two-dimensional fixed coordinates, so as to find a set of virtual reference points with certain geometric properties to ensure that the laser beamlets can satisfy the mapping relationship with the 2D coordinate points after geometric transformation, thereby providing a highly credible reference basis for the mapping intention of the two-dimensional to three-dimensional transformation of the dynamically projected homogeneous coordinate points, and enabling the projection attitude and rotation attitude solutions of the laser performance spotlight to have a more detailed spatial mapping linear trend. Subsequently, a pose homogeneous equation is created to project and solve these dynamically projected homogeneous coordinate points. Specifically, the singular decomposition method is used, which helps to describe the main change direction of the gradual high-dimensional time-series mapping of the original two-dimensional laser beamlets, ensuring that the main direction information of the attitude planning and definition of the laser performance spotlight is preferentially retained, and the secondary information follows, improving the interpretability and accuracy of the rotation transformation and projection positioning of the laser performance spotlight under the X-axis and Y-axis orthogonal bases. If the current projection error value is lower than the allowable projection error threshold, it means that the projection error between the two-dimensional coordinate points of a certain laser beamlet and its corresponding mapped three-dimensional coordinate points meets the minimum error constraint. At this time, the rotation and projection definitions are optimal, so the singular decomposition process is terminated. Through this method, the dynamically projected homogeneous coordinate points of each laser beamlet projected from the two-dimensional plane to the three-dimensional space along with the preset time-series evolution can be disassembled according to the pose reference benchmark, so as to accurately plan the rotation matrix and projection orientation of the laser to project the laser dot matrix from the two-dimensional plane to the target three-dimensional region, providing a clear and definite calculation guidance direction for the subsequent attitude trajectory control of the X-axis and Y-axis jointly linked in the UAV flight control process, making the all-round performance irradiation control of the two-axis laser lamp more accurate.

[0039] Furthermore, in a preferred embodiment of the present invention, the following steps are further included: Construct a three-dimensional simulation model of the gimbal mechanism, and control the three-dimensional simulation model to perform a performance simulation of the projection orientation in the PROE model software based on the rotation matrix to obtain the simulated inertial data of the gyroscope on the gimbal mechanism; Set the current attitude quaternion according to the rotation matrix, and convert the gravity vector in the global coordinate system to the UAV coordinate system based on the simulated rotation operation of the current attitude quaternion, so as to estimate the gravity vector of the rotating laser show spotlight and obtain the theoretical gravity direction; Extract the simulated gravity direction of the gyroscope acceleration through the simulated inertial data, calculate the vector error between the simulated gravity direction and the theoretical gravity direction, and obtain the attitude deviation of the laser show spotlight; Construct an integral deviation term for the rotation deviation of the simulated gravity compared with the theoretical gravity, obtain the multi-dimensional degree-of-freedom control criterion of the UAV, and constrain the integral gain of the attitude deviation generated by the preset multi-dimensional control of the laser show spotlight according to the multi-dimensional degree-of-freedom control criterion. Multiply the attitude deviation by the integral gain and accumulate it to the integral deviation term to obtain the cumulative integral deviation term; Obtain the multi-axis communication protocol of the UAV, retrieve the return-to-normal control logic of the UAV in the big data network based on the multi-axis communication protocol, identify the attitude deviation degree according to the return-to-normal control logic, output the offset ratio gain of the attitude rotation return-to-normal, and add the product of the attitude deviation and the offset ratio gain to the cumulative integral error term to generate an angular velocity correction term; Introduce the attitude quaternion differential equation of the quaternion algorithm, and continuously update the current attitude quaternion by repeating the above steps of the cumulative integral error and angular velocity correction of the attitude deviation in the attitude quaternion differential equation according to the angular velocity correction term to obtain a new attitude quaternion; Determine the relative projection attitude trajectory of the laser show spotlight projecting the laser dot matrix from the two-dimensional plane to the target three-dimensional area according to the new attitude quaternion, and control the X-axis drive motor and the Y-axis drive motor according to the relative projection attitude trajectory.

[0040] It should be noted that once the rotation matrix and the projection orientation are obtained, the approximate rotation posture and projection pose of each laser beam projected by the laser show spotlight can be known. However, the attitude trajectory calculation performance of traditional multi-axis control methods is poor, making it difficult to accurately solve the corresponding omnidirectional laser projection attitude control of the multi-axis laser pan-tilt system based on the rotation matrix and the projection orientation. In response to this, this method first obtains the simulated inertial data of the gyroscope during the projection of the gimbal mechanism through simulation, and then sets the current attitude quaternion, which represents the real-time rotation state supplied under the condition of the time series advancement of the rotation matrix during the simulation of the laser lamp. The theoretical gravity direction is a reference direction used to compare with the actual observation of the gyroscope to detect the attitude error. And the simulated rotation operation can transform the gravity vector in the global coordinate system to the UAV coordinate system, which can better infer the theoretical gravity direction of the gyroscope on the premise of the current attitude quaternion from the coordinate perspective of the UAV flight control mode, improve the fitting degree of the gravity estimation of the laser show spotlight, and ensure the reference value of the theoretical gravity direction. By comparing the gravity direction output by the gyroscope during simulation with the gravity direction estimated according to the current quaternion, the error vector is further calculated. This error quantifies the attitude deviation difference between the current attitude estimation and the gyroscope acceleration measurement result, providing a reliable correction basis for the drift of the gyroscope.

[0041] It should be noted that subsequently, the attitude deviations generated by the multi-dimensional control of the laser show spotlight are accumulated and statistically analyzed. Through the integral action, the long-term attitude errors can be accumulated and compensated, especially the zero-bias errors of the gyroscopes on multi-axis systems, etc. As time goes by, the error compensation amount is continuously adjusted, so as to gradually eliminate the long-term drift error of the gyroscope and achieve the effect of low-frequency drift suppression. Compared with traditional multiple control methods, the attitude estimation can be significantly more stable and accurate from the perspective of attitude error smoothing. Then, the total error vector is multiplied by the proportional gain and added to the cumulative integral error term to generate the correction term of the gyroscope angular velocity, and then added to the angular velocity measured by the gyroscope. The deflection proportional gain is used to quickly respond to the current deflection error, and the cumulative integral error term is used to process the long-term attitude deviation error, so as to correct the rotation measurement value of the gyroscope during the simulated laser projection process, reduce the attitude estimation error caused by gyroscope drift and noise, suppress the gyroscope drift, and avoid the linear estimation error of the attitude angle. Finally, the corrected angular velocity is used to update the current attitude quaternion. Through the update of the quaternion, the attitude change of the object can be tracked in real time, accurately reflecting the omnidirectional projection attitude trajectory of the current X-axis and Y-axis of the laser show spotlight. Through this method, the attitude trajectory of the UAV laser lamp under the known rotation matrix and projection orientation can be simulated and inferred, the cumulative error of attitude estimation can be reduced, and the accuracy of the dynamic projection of the UAV laser lamp can be significantly improved.

[0042] The above is inspired by the ideal embodiments of the present invention, and the description is relatively specific and detailed. However, it should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A drone laser light with two-axis omnidirectional steering, comprising a detachable platform, characterized in that: The detachable platform is carried under a quadcopter wing drone. The detachable platform is fixedly connected to a top plate by bolts. A gimbal mechanism is installed at the bottom of the connection top plate. The gimbal mechanism includes a Y-axis steering mechanism. The Y-axis steering mechanism includes a Y-axis drive motor. The Y-axis drive motor is a micro harmonic reduction motor. The Y-axis drive motor is arranged on the Y-axis of the quadcopter wing drone. The back of the Y-axis drive motor is fixed to the bottom end of the connection top plate. The output shaft of the Y-axis drive motor penetrates and is fixed under a U-shaped nested universal joint, so that the Y-axis drive motor drives the U-shaped nested universal joint to rotate on the Y-axis; The U-shaped nested universal joint is made of carbon fiber material. An X-axis steering mechanism is nested in the U-shaped nested universal joint. A laser performance spotlight is arranged in the X-axis steering mechanism. The laser performance spotlight is embedded between nested plates on both sides of the U-shaped nested universal joint.

2. The drone laser light with a two-axis omnidirectional steering according to claim 1, characterized in that, The two nested plates and the laser performance spotlight are horizontally penetrated and connected by an inner drive bearing, so that the laser performance spotlight can axially rotate in a nested manner inside the U-shaped nested universal joint. One end of the inner drive bearing is fixed to an X-axis drive motor. The X-axis drive motor is a micro brushless motor.

3. A drone laser light with a two-axis omnidirectional steering, as described in claim 1, characterized in that Magnetic fluid seals are arranged at the rotation connection of the Y-axis drive motor and the U-shaped nested universal joint. Magnetic fluid seals are arranged at the connection of the output shaft of the X-axis drive motor and the two nested plates on the U-shaped nested universal joint.

4. A drone laser light with a two-axis omnidirectional steering according to claim 1, characterized in that, A main laser light is arranged on the laser performance spotlight. The main laser light is used to emit the main laser beam required for the performance. The red light wavelength of the main laser beam is 638nm - 650nm, the green light wavelength is 520nm - 532nm, the blue light wavelength is 400nm - 445nm, the beam diameter is 3mm - 8mm, and the beam divergence angle is 1mrad - 2.5mrad.

5. A drone laser light with a two-axis omnidirectional steering, as claimed in claim 4, wherein A plurality of auxiliary laser lights are arranged beside the main laser light. The auxiliary laser lights are used to separately or jointly supplement and cooperate with the RGB color mixing combination of the main laser beam to achieve laser color mixing and joint control of graphic projection.

6. The drone laser light with a two-axis omnidirectional steering according to claim 1, characterized in that, A DMX512-A lighting decoding protocol module, a position feedback encoder, and a hybrid communication layer of the MAVLink flight control protocol are integrated inside the gimbal body of the laser performance spotlight.

7. A drone laser light with a two-axis omnidirectional steering, as described in claim 1, wherein A waterproof housing is installed above the U-shaped nested universal joint. A dynamic trimming module is arranged inside the waterproof housing. The dynamic trimming module includes two lead screw brackets. A transmission lead screw is horizontally connected to the lead screw brackets. A counterweight block is installed on the rod body of the transmission lead screw. Guide grooves are opened at both ends of the counterweight block. Each of the two guide grooves is embedded in a guide groove. Each guide groove is arranged on both sides of the lead screw bracket. The counterweight block is made of tungsten alloy material. One end of the transmission lead screw is connected to a servo motor.

8. A control method for a drone laser light with biaxial omnidirectional steering, which is applied to a drone laser light with biaxial omnidirectional steering according to any one of claims 1-7, characterized in that, Including the following steps: Obtain the performance task of the laser performance spotlight, and extract the laser dot matrix required to be projected by the laser performance spotlight and the two-dimensional fixed coordinate values of each laser beam in the laser dot matrix that are dynamically projected at a preset time sequence through the performance task; Define the laser spot beam as a neighborhood point, calculate the direct Manhattan distance between every two of the neighborhood points based on two-dimensional fixed coordinate values, use the direct Manhattan distance as a neighborhood chain edge, and construct a two-dimensional projection neighborhood graph for the laser spot beam to perform based on connecting the neighborhood points by the neighborhood chain edge; Introduce the Dijkstra algorithm to calculate and find the shortest Manhattan distance between each pair of neighborhood points in the two-dimensional projection neighborhood graph to replace the direct Manhattan distance of the laser spot beam. After searching, topologize the shortest Manhattan distance matrix of the two-dimensional projection neighborhood graph; Obtain the target three-dimensional region parameters of the projected laser dot matrix and the preset timing projection step size for each laser spot beam to dynamically transform to the next laser spot beam according to the performance task, and construct a three-dimensional global coordinate space for the laser dot matrix projection performance based on the target three-dimensional region parameters; Follow the preset timing projection step size to perform eigen-decomposition of centralization processing on the shortest Manhattan distance matrix, and generate a series of timing transformation eigenvalues and corresponding timing transformation eigenvectors for the dynamic projection of the laser dot matrix in different dimensions; Obtain a virtual mapping reference coordinate system based on big data, map and weight each timing transformation eigenvalue and timing transformation eigenvector to obtain multiple dynamically projected homogeneous coordinate points, and perform singular decomposition solution of rotation and projection on each dynamically projected homogeneous coordinate point through the virtual mapping reference coordinate system to obtain the rotation matrix and projection orientation for the laser performance spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional region; 9. The control method of a drone laser light with biaxial omnidirectional steering according to claim 8, characterized in that, The obtaining of the virtual mapping reference coordinate system based on big data, mapping and weighting each timing transformation eigenvalue and timing transformation eigenvector to obtain multiple dynamically projected homogeneous coordinate points, and performing singular decomposition solution of rotation and projection on each dynamically projected homogeneous coordinate point through the virtual mapping reference coordinate system to obtain the rotation matrix and projection orientation for the laser performance spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional region specifically includes the following steps: Bind and map each of the timing transformation eigenvalues and the corresponding timing transformation eigenvectors one by one for weighting to obtain the dynamically projected homogeneous coordinate points for each laser spot beam to project from the two-dimensional plane to the three-dimensional space along with the preset timing transformation; Obtain a virtual mapping reference coordinate system for the target three-dimensional region parameters based on the big data network, and use the virtual mapping reference coordinate system to map and consider the linear combination between the two-dimensional fixed coordinate values of each laser spot beam to generate a virtual mapping reference coordinate point set for two-dimensional projection to three-dimensional; Create a pose homogeneous equation by combining the virtual mapping reference coordinate point set and the two-dimensional fixed coordinate values, construct a dynamically projected homogeneous coordinate matrix based on each dynamically projected homogeneous coordinate point, and perform singular decomposition projection solution on the dynamically projected homogeneous coordinate matrix through the pose homogeneous equation; Preset an allowable projection error threshold, continuously monitor the current projection error value of the three-dimensional dynamic projection pose of each laser spot beam during the singular decomposition process. If the current projection error value is lower than the allowable projection error threshold, terminate the singular decomposition process, and at this time output the rotation singular value and translation singular value of the projection solution; Adjust the rotation amplitude and projection vector of the laser show spotlight for the dynamic projection of each laser beam according to the rotation singular value and translation singular value, and obtain the rotation matrix and projection orientation for the laser show spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional area.

10. The control method of a drone laser light with a two-axis omnidirectional steering according to claim 8, characterized in that, It further includes the following steps: Construct a three-dimensional simulation model of the gimbal mechanism, and control the three-dimensional simulation model to perform the performance simulation of the projection orientation in the PROE model software based on the rotation matrix, so as to obtain the simulated inertial data of the gyroscope on the gimbal mechanism; Set the current attitude quaternion according to the rotation matrix, and convert the gravity vector in the global coordinate system to the UAV coordinate system according to the simulated rotation operation of the current attitude quaternion, so as to estimate the gravity vector of the rotation of the laser show spotlight and obtain the theoretical gravity direction; Extract the simulated gravity direction of the gyroscope acceleration through the simulated inertial data, calculate the vector error between the simulated gravity direction and the theoretical gravity direction, and obtain the attitude deviation of the laser show spotlight; Construct an integral deviation term for the rotation deviation of the simulated gravity compared with the theoretical gravity, obtain the multi-dimensional degree-of-freedom control criterion of the UAV, constrain the integral gain of the attitude deviation generated by the multi-dimensional control of the preset laser show spotlight according to the multi-dimensional degree-of-freedom control criterion, multiply the attitude deviation by the integral gain and accumulate it to the integral deviation term to obtain the cumulative integral deviation term; Obtain the multi-axis communication protocol of the UAV, retrieve the return-to-normal control logic of the UAV in the big data network based on the multi-axis communication protocol, identify the attitude deviation degree according to the return-to-normal control logic, output the offset ratio gain of the attitude rotation return-to-normal, and add the product of the attitude deviation and the offset ratio gain to the cumulative integral error term to generate the angular velocity correction term; Introduce the attitude quaternion differential equation of the quaternion algorithm, and continuously update the current attitude quaternion by repeating the above steps of the cumulative integral error and angular velocity correction of the attitude deviation according to the angular velocity correction term in the attitude quaternion differential equation to obtain the new attitude quaternion; Determine the relative projection attitude trajectory of the laser show spotlight to project the laser dot matrix from the two-dimensional plane to the target three-dimensional area according to the new attitude quaternion, and control the X-axis drive motor and the Y-axis drive motor according to the relative projection attitude trajectory.

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