An aerial visual imaging method and system

Abstract

The application provides an aerial visual imaging method and system. The aerial visual imaging system comprises a performance control module and a plurality of basic performance units. The basic performance unit comprises a UAV module, a light strip module, and a mounting device module connected with the light strip module and the UAV module respectively and used for driving the light strip module to move relative to the UAV module. The performance control module is in communication connection with the UAV module, the light strip module, and the mounting device module respectively, and is used for controlling the UAV module to fly, controlling the light strip module to emit light, and controlling the light strip module to move relative to the UAV module through the mounting device module. The aerial visual imaging method and system of the application can generate linear tracks with different lengths and generate strip-shaped visual image effects in the state of rapid maneuvering of the UAV module, so as to realize the effect of light performance.

Description

Technical Field

[0001] This invention relates to the field of imaging technology, and more particularly to an aerial visual imaging method and system. Background Technology

[0002] Currently, aerial imaging technology mainly uses multiple drones, each carrying an LED point light source, to form a light matrix in the air, thereby displaying different graphic characters and ultimately providing users with visual effects through static images or simply changing images.

[0003] The resolution of aerial imaging technology is determined by the number of drones, and it suffers from drawbacks such as complex flight control and high unit cost. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention proposes an aerial visual imaging method and system.

[0005] The technical solution proposed in this invention is as follows:

[0006] This invention proposes an aerial visual imaging system, including a performance control module and multiple basic performance units;

[0007] The basic performance unit includes a drone module, a light strip module, and a mounting device module that is connected to the light strip module and the drone module respectively, and is used to drive the light strip module to move relative to the drone module.

[0008] The performance control module is communicatively connected to the drone module, the light strip module, and the mounting device module. It is used to control the drone module to fly, control the light strip module to emit light, and control the movement of the light strip module relative to the drone module through the mounting device module.

[0009] In the aerial visual imaging system described above, the mounting device module includes a frame connecting rod for fixed connection with the UAV module, a light strip support rod for fixing the light strip module, and an angle adjustment servo 133 connected to the frame connecting rod and the light strip support rod for adjusting the angle between the light strip support rod and the ground.

[0010] In the aerial visual imaging system described above, the light strip module includes multiple LED beads and a power supply and control circuit 122 electrically connected to the LED beads for controlling the power supply to the LED beads and for adjusting the light emission color and intensity of the LED beads.

[0011] This invention also proposes an aerial visual imaging method based on the aerial visual imaging system described above, comprising the following steps:

[0012] Step 1: Process the image material to be displayed using a pixelation algorithm to obtain a color value matrix of size (n×l×s)×(m×t);

[0013] Where s is the horizontal coefficient; t is the vertical coefficient; n is the number of UAV modules in the aerial visual imaging system; l is the number of light strip modules on each UAV module; and m is the number of LED beads on each light strip module.

[0014] Step 2: Divide the color value matrix into (n×l)×m sub-matrixes of color value with size s×t;

[0015] Step 3: Obtain the current actual position vector Pr, current preset position vector Pp, current actual speed Vr, and current preset speed Vp of each LED bead in each light strip module on each drone module, and then calculate the horizontal relative distance ds and vertical relative distance dt of the LED bead using the following algorithm;

[0016]

[0017]

[0018] ||Pr h -Pp h ||≤D h ;

[0019] ||Pr v -Pp v ||≤D v ;

[0020] Among them, Pr h The horizontal component of the current actual position vector Pr of the LED bead;

[0021] Pp h The horizontal component of the current preset position vector Pp of the LED bead;

[0022] D h The preset maximum horizontal error for the position of the drone module in the formation;

[0023] Vr h The horizontal component of the current actual speed Vr of the LED bead;

[0024] T represents the preset maximum speed multiplication error in the drone module formation;

[0025] Vp h The horizontal component of the current preset speed Vp of the LED bead;

[0026] Pr v This is the vertical component of the current actual position vector Pr of the LED bead;

[0027] Pp vThe vertical component of the current preset position vector Pp of the LED bead;

[0028] D v The preset maximum vertical error for the position of the drone module in the formation;

[0029] Vr v The vertical component of the current actual velocity Vr of the LED bead;

[0030] Vp v The vertical component of the current preset speed Vp of the LED bead;

[0031] Step 4: Based on the horizontal relative distance ds and vertical relative distance dt of each LED, calculate the row index i and column index j, where,

[0032] i = ds × s + 0.5;

[0033] j = dt × t + 0.5;

[0034] Then, the color values ​​of the color value submatrix group with row index i and column index j in the (n×l)×m color value submatrix group of size s×t are set to the color values ​​of the LED bead with a horizontal relative distance of ds and a vertical relative distance of dt, and the LED bead is lit.

[0035] In the aerial visual imaging method described above in this invention, the pixelation algorithm employs a median filtering algorithm, a Canny algorithm, or a Laplace algorithm.

[0036] The aerial visual imaging method and system of this invention employs a drone module that carries a light strip module of a certain length via a mounting device module. Through flight control algorithms for the drone module and flashing control algorithms for the light strip module, linear trajectories of varying lengths are generated during rapid maneuvering of the drone module, producing strip-shaped visual image effects such as meteor or firework contrails, thereby achieving a light show effect. Furthermore, the coordinated flight of multiple basic performance units can also achieve the arrangement and combination of multiple strip-shaped images, realizing complex light shows with low-cost and low-complexity drone formations. Attached Figure Description

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0038] Figure 1 A functional block diagram of an aerial visual imaging system according to a preferred embodiment of the present invention is shown.

[0039] Figure 2 It shows Figure 1 The diagram shows the structural schematic of the mounting module of the aerial visual imaging system.

[0040] Figure 3 It shows Figure 1 A schematic diagram of the light strip module of the aerial vision imaging system shown;

[0041] Figure 4 A reference diagram showing the first usage state of the basic performance unit of the aerial visual imaging system according to a preferred embodiment of the present invention is shown.

[0042] Figure 5 It shows Figure 4 The second usage state reference diagram of the basic performance unit is shown;

[0043] Figure 6 A reference diagram showing the combined use of multiple basic performance units of an aerial visual imaging system according to a preferred embodiment of the present invention is illustrated. Detailed Implementation

[0044] like Figure 1 As shown, Figure 1 A functional block diagram of an aerial visual imaging system according to a preferred embodiment of the present invention is shown. The present invention proposes an aerial visual imaging system, including a performance control module 20 and multiple basic performance units 10.

[0045] The basic performance unit 10 includes a drone module 110, a light strip module 120, and a mounting device module 130 connected to the light strip module 120 and the drone module 110 respectively, for driving the light strip module 120 to move relative to the drone module 110.

[0046] The performance control module 20 is communicatively connected to the drone module 110, the light strip module 120, and the mounting device module 130, respectively. It is used to control the drone module 110 to fly, control the light strip module 120 to emit light, and control the light strip module 120 to move relative to the drone module 110 through the mounting device module 130.

[0047] The above describes the basic technical solution. The aerial visual imaging system of this invention uses a drone module that carries a light strip module of a certain length via a mounting device module. Through flight control algorithms for the drone module and flashing control algorithms for the light strip module, linear trajectories of different lengths are generated during rapid maneuvering of the drone module, producing strip-shaped visual image effects, such as meteor or firework contrails, thereby achieving a light show effect. Furthermore, the coordinated flight of multiple basic performance units can also achieve the arrangement and combination of multiple strip-shaped images, realizing complex light shows with low-cost, low-complexity drone formations.

[0048] Basic performance unit 10 can perform alone or multiple basic performance units 10 can team up to complete online performances.

[0049] Furthermore, in this embodiment, as Figure 2 As shown, Figure 2 It shows Figure 1 The diagram shows the structure of the mounting device module of the aerial visual imaging system. The mounting device module 130 includes a frame connecting rod 131 for fixed connection with the UAV module 110, a light strip support rod 132 for fixing the light strip module 120, and an angle adjustment servo 133 connected to the frame connecting rod 131 and the light strip support rod 132 respectively for adjusting the angle between the light strip support rod 132 and the ground.

[0050] Here, the mounting module 130 is mainly responsible for connecting the UAV module and the light strip module, and includes functions such as fixing the light strip module, adjusting the angle of the light strip module, and controlling the movement of the light strip module. Specifically, the frame connecting rod 131 is mainly responsible for the mechanical connection between the mounting module and the UAV module frame, and provides power and signal transmission; the light strip support rod 132 is mainly responsible for fixing the light strip module 120, and the light strip support rod 132 has one or more light strip clips 134; the angle adjustment servo 133 is mainly responsible for adjusting the angle of the light strip support rod 132, including a vertical angle servo and a horizontal angle servo. Among them, the vertical angle servo is used to adjust the angle of inclination of the light strip support rod 132 in the vertical direction with respect to the ground (e.g., 0 degrees-90 degrees), and the horizontal angle servo is used to adjust the angle of inclination of the light strip support rod 132 in the parallel direction with respect to the ground (e.g., 0 degrees-10 degrees).

[0051] Furthermore, such as Figure 3 As shown, Figure 3 It shows Figure 1 The diagram shows the structure of a light strip module in an aerial visual imaging system. The light strip module 120 includes multiple LED beads 121 and a power supply and control circuit 122 electrically connected to the LED beads 121, used to control the power supply to the LED beads 121 and adjust the light color and intensity of the LED beads 121. Here, the light strip module 120 is mainly responsible for the circuit connection of the LED beads 121, switching of flashing modes, and control of flashing status. The light strip module mainly consists of LED beads, a power supply path, and a control path. Each LED bead 121 has its own IC (microcontroller), which can emit light of different colors and intensities under the control of the IC. The light strip module 120 can use single-sided or double-sided LED beads. The light strip module 120 can be flexible or rigid. The light strip module 120 is fixedly mounted on the light strip support rod 132 by one or more light strip clips 134. The length of the light strip module 120 can be equal to or greater than the length of the light strip support rod 132.

[0052] Furthermore, the UAV module 110 mainly includes a frame, flight control system, power system, data link system, and power supply system, primarily responsible for the support, flight control, attitude control, and power supply functions of the light strip module 120. The frame refers to the hardware platform supporting the UAV module 110; all mechanical and electronic components on the UAV module 110 are supported by the frame for flight. The flight control system, also known as the flight management and control system, performs attitude control, azimuth adjustment, angle control, and various sensor data processing through the subsystem sensor system. It has a significant impact on the stability, reliability, accuracy, and real-time performance of the UAV, playing a decisive role in its flight performance. The power system is mainly based on electric motors, which primarily include the motor, ESC, and propeller. The data link system ensures the accurate transmission of remote control commands and the real-time and reliable reception and transmission of information by the UAV, guaranteeing timely and effective information feedback and successful and accurate mission completion. The power supply system is the energy source for all mechanical and electronic components in the UAV, adapting to the electrical characteristics of different components.

[0053] Furthermore, the performance control module 20 is primarily responsible for the coordinated management of the flight of the drone module 110 and the light show of the light strip module 120, as well as the team management of the drone modules 110. It mainly communicates with the drone modules through data link communication to control individual drone modules and drone module formations. Under the premise of controlling the attitude of the drone modules, it controls the flashing state of the light strip module 120 to achieve the effect of the light show.

[0054] Furthermore, this invention proposes an aerial visual imaging method based on the above-mentioned aerial visual imaging system, comprising the following steps:

[0055] Step 1: Process the image material to be displayed using a pixelation algorithm to obtain a color value matrix of size (n×l×s)×(m×t);

[0056] Where s is the horizontal coefficient; t is the vertical coefficient; n is the number of UAV modules 110 in the aerial visual imaging system; l is the number of light strip modules 120 on each UAV module 110; and m is the number of LED beads 121 on each light strip module 120.

[0057] In this step, the pixelation algorithm can be a median filter algorithm, a Canny algorithm, or a Laplace algorithm, etc.; the selection of s and t is determined by the flight state of the UAV.

[0058] Step 2: Divide the color value matrix into (n×l)×m sub-matrixes of color value with size s×t;

[0059] In this step, (n×l)×m color value submatrices of size s×t are used as candidate color value sets for the corresponding LED beads 121 in the corresponding light strip module 120 on the corresponding UAV module 110;

[0060] Step 3: Obtain the current actual position vector Pr, the current preset position vector Pp, the current actual speed Vr, and the current preset speed Vp of each LED bead 121 in each LED strip module 120 on each drone module 110, and then calculate the horizontal relative distance ds and the vertical relative distance dt of the LED bead 121 using the following algorithm.

[0061]

[0062]

[0063] ||Pr h -Pp h ||≤D h ;

[0064] ||Pr v -Pp v ||≤D v ;

[0065] Among them, Pr h The horizontal component of the current actual position vector Pr of LED bead 121;

[0066] Pp h The horizontal component of the current preset position vector Pp of LED bead 121;

[0067] D h The preset maximum horizontal error for the position of the UAV module 110 in the formation;

[0068] Vr h The horizontal component of the current actual speed Vr of LED bead 121;

[0069] T represents the preset maximum speed error in the formation of UAV module 110;

[0070] Vp h The horizontal component of the current preset speed Vp of LED bead 121;

[0071] Pr v The vertical component of the current actual position vector Pr of LED bead 121;

[0072] Pp v The vertical component of the current preset position vector Pp of LED bead 121;

[0073] D vThe preset maximum vertical error for the position of the UAV module 110 in the formation;

[0074] Vr v The vertical component of the current actual velocity Vr of LED bead 121;

[0075] Vp v The vertical component of the current preset speed Vp of LED bead 121;

[0076] Step 4: Based on the horizontal relative distance ds and vertical relative distance dt of each LED bead 121, calculate the row index i and column index j, where,

[0077] i = ds × s + 0.5;

[0078] j = dt × t + 0.5;

[0079] Then, the color values ​​of the color value submatrix group with row index i and column index j in the (n×l)×m color value submatrix group of size s×t are set to the color values ​​of the LED bead 121 with a horizontal relative distance of ds and a vertical relative distance of dt, and the LED bead 121 is lit.

[0080] In the above method, based on the visual persistence characteristic of the human eye, when the flight speed of a single UAV module 110 increases, causing the LED beads on the light strip module 120 to move at a speed greater than 23 frames per second in the human eye, the human eye will no longer distinguish discrete light spots, but will instead generate a continuous light strip.

[0081] The performance control module coordinates the maneuvering speed of the drone module, the mounting device module, and the angle adjustment servo to adjust the vertical and horizontal angles of the light strip support bar and the flashing frequency of the LED beads, thereby further generating a light strip with visual effects such as increased width, dynamic width changes, and random swaying.

[0082] To make the technical objectives, technical solutions, and technical effects of the present invention clearer, and to enable those skilled in the art to understand and implement the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0083] I. System Implementation of a Single Basic Performance Unit

[0084] like Figure 4 As shown, Figure 4 A reference diagram showing the first usage state of the basic performance unit of the aerial visual imaging system according to a preferred embodiment of the present invention is illustrated. During the takeoff and landing phases of the UAV module, the angle adjustment servo controls the vertical angle of the light strip support rod to be parallel to the ground, facilitating the takeoff and landing of the UAV.

[0085] like Figure 5 As shown, Figure 5 It shows Figure 4 The diagram shows the second usage state of the basic performance unit. After the drone module takes off, the angle adjustment servo controls the vertical angle of the light strip support rod to face the target audience area of ​​the light show. Through the performance control module, the LED beads 121 are controlled to flash, producing a static strip light visual effect.

[0086] The performance control module controls the drone module to perform rapid maneuvers and flash LED beads 121 to generate continuous linear trajectories, producing a continuous strip-shaped visual image effect. Fine-tuning of the angle adjustment servo motor further adjusts the width, length, swing, and transformation of the strip-shaped image, creating dynamic visual effects.

[0087] II. Implementation of a Team Formation System for Multiple Basic Performance Units

[0088] The takeoff and landing phases of the drone module are similar to those of a single basic performance unit. The angle adjustment servo of each drone module controls the angle of the light strip support rod to be horizontal, which facilitates the takeoff and landing of the drone module.

[0089] like Figure 6 As shown, Figure 6 The diagram illustrates a combined usage state of multiple basic performance units of an aerial visual imaging system according to a preferred embodiment of the present invention. After multiple drone modules take off, the drone module formation function in the performance control module enables the multiple drone modules to maintain a relatively stable formation in the air. Then, through the lighting control function, the flashing state of the light strip modules of the multiple drone modules changes to form the text and patterns to be displayed.

[0090] After multiple drone modules take off, the drone module formation function in the performance control module maintains a relatively stable formation while enabling multiple drone modules to maneuver rapidly in the air. Then, by adjusting the angle through the lighting control function and angle servo, the strip light strips of multiple drone modules can produce more dynamic effects.

[0091] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An aerial visual imaging method based on an aerial visual imaging system, characterized in that, The aerial visual imaging method includes the following steps: Step 1: Process the image material to be displayed using a pixelation algorithm to obtain a color value matrix of size (n×l×s)×(m×t); Where s is the horizontal coefficient; t is the vertical coefficient; n is the number of UAV modules (110) in the aerial visual imaging system; l is the number of light strip modules (120) on each UAV module (110); and m is the number of LED beads (121) on each light strip module (120). Step 2: Divide the color value matrix into (n×l)×m sub-matrixes of color value with size s×t; Step 3: Obtain the current actual position vector Pr, current preset position vector Pp, current actual speed Vr and current preset speed Vp of each LED bead (121) in each light strip module (120) on each UAV module (110), and then calculate the horizontal relative distance ds and vertical relative distance dt of the LED bead (121) using the following algorithm; ||Pr h -Pp h ||≤D h ; ||Pr v -Pp v ||≤D v ; Among them, Pr h The horizontal component of the current actual position vector Pr of the LED bead (121); Pp h The horizontal component of the current preset position vector Pp of the LED bead (121); D h The preset maximum horizontal error for the position of the UAV module (110) in the formation; Vr h The horizontal component of the current actual velocity Vr of the LED bead (121); T is the preset maximum speed error of the UAV module (110) formation; Vp h The horizontal component of the current preset speed Vp of the LED bead (121); Pr v The vertical component of the current actual position vector Pr of the LED bead (121); Pp v The vertical component of the current preset position vector Pp of the LED bead (121); D v The preset maximum vertical error for the position of the UAV module (110) in the formation; Vr v The vertical component of the current actual velocity Vr of the LED bead (121); Vp v The vertical component of the current preset speed Vp of the LED bead (121); Step 4: Based on the horizontal relative distance ds and vertical relative distance dt of each LED bead (121), calculate the row index i and column index j, where, i = ds × s + 0.5; j = dt × t + 0.5; Then, the color values ​​of the color value submatrix group with row index i and column index j in the (n×l)×m color value submatrix group with size s×t are set to the color values ​​of the LED bead (121) with a horizontal relative distance of ds and a vertical relative distance of dt, and the LED bead (121) is lit.

2. The aerial visual imaging method according to claim 1, characterized in that, The pixelation algorithm uses median filtering, Canny algorithm, or Laplace algorithm.

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