A control method for dynamic display of aerial pixels

Abstract

The present invention discloses a control method for dynamic aerial pixel display, comprising treating each drone device as a pixel point and arranging the drones in an array at different resolutions. The drones' visual range (L) is determined based on this range, and within this range, the drone in the lower left corner of the array is used as the host, set as the coordinate zero point for positioning. Each drone device establishes a two-dimensional coordinate system on the ground vertical plane based on a set safety distance (B) to position and arrange each drone. PID control is used for each individual drone to eliminate the effects of various disturbances on flight stability: a leader-follower relationship is adopted, and PID parameters are established for each drone device. The leader-follower master-slave logic of the present invention can also enable faster fleet formation and shorten imaging preparation time.

Description

Technical Field

[0001] The present invention relates to the technical field of screen display in electric lighting, and in particular to a control method for dynamic display of pixels in the air. Background Art

[0002] With the increasing sophistication of multimedia promotional methods, advertising through display screens has become a mainstream market trend. However, current LED displays used for promotional purposes must be mounted on buildings, walls, or individual frames. This creates blind spots and prevents all customers from seeing the content displayed on the screen. Furthermore, due to their location, their effectiveness is significantly limited by the flow of people.

[0003] This led to the emergence of related aerial projection technologies, which typically project promotional content into the air or onto the ground. However, this technology is easily obstructed and requires a projection screen or curtain, limiting its range. To address this issue, existing drone aerial display technologies either rely on light strips to control the on / off of the light source, or rely on this to control the drone's flight path to display simple patterns or text. This technology lacks the ability to precisely control pixel changes, similar to a more complex flip-up display. Summary of the Invention

[0004] In view of the above-mentioned defects in the prior art, the present invention proposes a control method for dynamic display of pixels in the air, which is used for performing video display or advertising in the air and realizing real-time dynamic display of content.

[0005] To achieve the above purpose, the technical solution of this application is: a control method for dynamic display of pixels in the air, comprising:

[0006] Each drone device is regarded as a pixel point, and the drone array is arranged according to different resolutions. For example, when the resolution is 320*240, 76,800 drones are required, when the resolution is 640×480, 307,200 drones are required, and so on to form a drone array;

[0007] When the human eye observes a still image at a medium relative resolution and light brightness, the resolution angle θ is approximately 1 to 1.5 minutes. Based on this, the range of the drone's visual range, L, is obtained:

[0008] L 大 =3438×d(mm)

[0009]

[0010] Among them, L 大 is the maximum visual range of the UAV, L 小 is the minimum visual range of the UAV, in mm;

[0011] Assume that the size of the drone with propellers deployed is A, and the safe distance between the two drones is B, which is equivalent to the pixel center distance d = A + B. Substituting this into the above formula, we get the line of sight range L, which is the height range of the drone from the ground.

[0012] Because in outdoor environments, there are many disturbances caused by weather conditions and they are uncontrollable, PID control is used for each individual drone to eliminate the impact of various disturbances on flight stability:

[0013]

[0014] Where u(t) is the current signal output by the power control unit, K p is the proportional gain, e(t) is the difference between the current altitude of the drone and the expected altitude, T t is the integration time constant, T D is the differential time constant;

[0015] That is, when the UAV faces disturbance, it can respond quickly, detect the height between the fuselage and the ground through the height sensor carried by the power control unit, obtain the error between the current height and the target height, and adjust the proportional gain K p , quickly reach the set altitude, enhance the formation efficiency of the UAV system, and adjust the integral time constant T t Overcome the steady-state error that still exists near the predetermined height and adjust the differential time constant T D The error coefficient is used to mitigate the repeated oscillations that occur when the individual drone reaches a predetermined altitude. This control method can achieve a speed control system with fast response speed and small overshoot, ensuring stable flight of the individual drone.

[0016] Using a leader-follower relationship, the PID parameters are established for each drone device, and the minimum and maximum altitudes of the drones are set based on the drone's minimum visual range L. Within this range, the drone in the lower left corner of the array is used as the master, and its coordinate zero point is set for positioning;

[0017] Each drone device establishes a two-dimensional coordinate system on the ground vertical plane based on the set safety distance B to locate and arrange each drone.

[0018] Preferably, when arranging the drone array, a launch logic from bottom to top and from left to right is adopted, and the arrangement is carried out in rows.

[0019] Ideally, each drone can use the same control program. Simply adjusting the estimated coordinates of each drone's pixel point allows for rapid transmission and reception within the formation. The power control unit controller can be a single-chip microcomputer or a programmable logic controller, enabling adaptive control of each pixel point within the drone group.

[0020] Preferably, the control of the drone array is implemented through the control instructions received by the ground server, and the instructions are analyzed, packaged, integrated and sent to the communication unit of the drone equipment. The communication unit then sends the instructions to the power control unit and the packaged light source module respectively to realize the next positioning and display functions.

[0021] Preferably, the control instructions received by the ground server can be sent through a personal device terminal to achieve control of the drone array.

[0022] The above-mentioned control method is implemented in a control system for pixel dynamic display, which includes a drone device, a ground server and a central controller; the central controller is connected to the ground server to provide the ground server with a drone management strategy; the ground server establishes communication with the drone device through a wireless network; the central controller controls the drone device via the ground server; and the drone device periodically reports status information to the ground server.

[0023] As a further improvement of the present invention, the UAV equipment includes a shell, a power control unit, a lift system, a power supply unit, a communication unit and a packaged light source module. The power control unit, power supply unit, communication unit and packaged light source module are all located in the shell. The top of the shell is connected to the lift system. The communication unit receives ground signals to the power control unit and the packaged light source module. The power control unit controls the lift system according to the ground signals.

[0024] As a further improvement of the present invention, the shell is made of lightweight plastic material to reduce the weight of the body and enhance the maneuverability of the drone.

[0025] As a further improvement of the present invention, the power control unit includes a brushless DC motor and a motor control chip, and is a single-motor system with adjustable speed.

[0026] As a further improvement to the present invention, the lift system utilizes a coaxial dual-rotor structure. This allows the drone to achieve torque balance through the principle of coaxial rotation of the blades, eliminating the need for additional balancing devices and enabling stable flight. This significantly reduces the structural space and simplifies the overall structure of the drone. Compared to conventional single-rotor drones, single-axis dual-rotor drones offer greater efficiency and stability.

[0027] As a further improvement to the present invention, the power supply unit utilizes a rechargeable lithium battery, which can display the battery level and estimated duration in real time via monitoring equipment. The power supply unit supplies power to the power control unit, which is connected to the communication unit to enable remote, real-time operation of individual drones.

[0028] As a further improvement of the present invention, the communication unit adopts wireless network transmission equipment.

[0029] As a further improvement of the present invention, the package light source module includes a three-color light source and a PCB substrate embedded with a single-chip microcomputer. The single-chip microcomputer controls the current of the red light chip, green light chip, and blue light chip through the driving chip, changes the luminous intensity of each light source, and thus ensures that the color emitted by individual pixels meets the requirements.

[0030] As a further improvement of the present invention, the package light source module is controlled by a single-chip microcomputer, and displays the colors of the three-color light source in real time according to the changes in image pixels on the central controller. The synchronous display method is similar to the working method of a computer monitor and is updated at a frequency of not less than 30 fields per second.

[0031] The beneficial effects of the present invention are:

[0032] 1) The present invention uses highly maneuverable drones as pixels to replace the pixels of previous LED display screens, allowing graphics to be displayed in various occasions, breaking away from the regional limitations of traditional LED screen displays.

[0033] 2) Treating each individual drone as an adaptive subsystem can cope with other disturbances in the flight state and achieve adaptive adjustment of the entire array.

[0034] 3) The drone array can be remotely controlled by a ground server. The communication unit to be adopted responds quickly and can be controlled and transmitted in real time through personal terminal devices.

[0035] 4) The drone’s power supply unit is powered by a rechargeable lithium battery, and the battery level and estimated duration are displayed in real time via monitoring equipment.

[0036] 5) The leader-follow master-slave logic can also make the fleet formation faster and shorten the imaging preparation time.

[0037] 6) The UAV equipment uses a single-axis dual-rotor model, which has stable flight and can reduce the cost of system use. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the structure of the drone device of the present invention.

[0039] Among them: 1. Shell, 2. Power control unit, 3. Lift system, 4. Power supply unit, 5. Communication unit, 6. Package light source module. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application. That is, the embodiments described are only part of the embodiments of this application, not all of them.

[0041] The main purpose of the present invention is to free LED displays from the constraints of a fixed screen position and realize display needs in multiple occasions anytime and anywhere. Therefore, this embodiment provides a control method for dynamic display of pixels in the air. Before the drone array performs a display task, a single drone is first debugged and PID control is adopted. The motor speed is used as the controlled variable and the height of the drone from the ground is used as the measurement object. The flight status of the drone is calibrated to achieve a certain degree of anti-interference function of the drone in space.

[0042] The height between the fuselage and the ground is detected by the altitude sensor carried in the power control unit, and the error between the current altitude and the target altitude is obtained, so as to quickly reach the set altitude and enhance the efficiency of the UAV system formation, overcome the steady-state error, and slow down the repeated oscillations generated when the individual UAV reaches the predetermined altitude.

[0043] When releasing the drone array, the upper left corner of the entire array is positioned as the master, serving as the origin of the plane coordinate system within the space. The other slaves are positioned based on the master's positioning and the pre-determined safe distance between pixels. Once the positions are determined, the drone array is launched from bottom to top and left to right. Each slave drone seeks adjacent pixels based on the safe distance to follow.

[0044] After the drone arrives at the designated location, the packaged light module initializes. The central controller breaks down the display material into pixels, converts the digital signal into an electrical signal, and transmits it to the packaged light module's microcontroller via a ground server. The packaged light module's microcontroller decodes the electrical signal into a recognizable digital signal. Driver chips adjust the current of the red, green, and blue light chips, respectively. The three light sources adjust the color temperature to achieve full color gamut coverage. A refresh rate of at least 30 frames per second is set, creating an aerial display composed of suspended pixels to display the content. After the display mission is completed, the drone is retrieved and launched in the reverse order: from top to bottom and from right to left. After retrieval, the device is debugged, charged, and initialized to prepare for the next display operation.

[0045] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many variations and modifications are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to realize and utilize a variety of exemplary embodiments of the invention and various options and modifications. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A method for controlling dynamic display of pixels in the air, characterized in that: include Treat each drone device as a pixel point and arrange the drone array according to different resolutions; Get the value range L of the drone's visual range: L 大 =3438×d(mm) Among them, L 大 is the maximum visual range of the UAV, L 小 is the minimum visual range of the UAV, in mm; Assume that the size of the drone with propellers deployed is A, and the safe distance between the two drones is B, which is equivalent to the pixel center distance d = A + B. Substituting into the above formula, we can get the viewing distance value range L; For each drone, PID control is used to eliminate the impact of various disturbances on flight stability: Where u(t) is the current signal output by the power control unit, K p is the proportional gain, e(t) is the difference between the current altitude of the drone and the expected altitude, T t is the integration time constant, T D is the differential time constant; The height between the fuselage and the ground is detected by the height sensor carried in the power control unit, and the error between the current height and the target height is obtained by adjusting the proportional gain K p , quickly reach the set altitude, enhance the formation efficiency of the UAV system, and adjust the integral time constant T t Overcome the steady-state error that still exists near the predetermined height and adjust the differential time constant T D The error coefficient is used to slow down the repeated oscillations of individual drones when they reach the predetermined height. Using a leader-follower relationship, the PID parameters are established for each drone device. The minimum and maximum altitudes of the drones are set according to the drone's visual range (L). Within this range, the drone in the lower left corner of the array is used as the master and is set as the coordinate zero point for positioning. Each drone device establishes a two-dimensional coordinate system on the ground vertical plane based on the set safety distance B to position and arrange each drone; The control method is implemented in a pixel dynamic display control system, which includes a drone device, a ground server, and a central controller; the central controller is connected to the ground server and is used to provide the ground server with a drone management strategy; the ground server establishes communication with the drone device via a wireless network; the central controller controls the drone device via the ground server; and the drone device periodically reports status information to the ground server. The UAV device includes a shell, a power control unit, a lift system, a power supply unit, a communication unit and a package light source module. The power control unit, the power supply unit, the communication unit and the package light source module are all located in the shell. The top of the shell is connected to the lift system. The communication unit receives a ground signal to the power control unit and the package light source module. The power control unit controls the lift system according to the ground signal. The packaged light source module includes a three-color light source and a PCB substrate embedded with a single-chip microcomputer. The single-chip microcomputer controls the current of the red light chip, the green light chip, and the blue light chip through the driver chip, changes the luminous intensity of each light source, and thus ensures that the color emitted by individual pixels meets the requirements.

2. The method for controlling dynamic display of pixels in the air according to claim 1, characterized in that: When arranging the drone array, the launch logic is from bottom to top and from left to right, and the drones are arranged in rows.

3. The method for controlling dynamic display of aerial pixels according to claim 1, characterized in that: Each drone device uses the same control program. Only the expected coordinate position of each drone pixel point needs to be adjusted to achieve rapid transmission and reception of the formation. The power control unit controller uses a single-chip microcomputer or PLC, and each pixel point of the drone group can achieve adaptive control.

4. The method for controlling dynamic display of pixels in the air according to claim 1, characterized in that: The control of the drone array is implemented through the control instructions received from the ground server. The instructions are analyzed, packaged, integrated and sent to the communication unit of the drone equipment. The communication unit then sends the instructions to the power control unit and the packaged light source module respectively to realize positioning and display functions.

5. The method for controlling dynamic display of pixels in the air according to claim 1, characterized in that: The control instructions received by the ground server are sent through the personal device terminal to realize the control of the drone array.

6. The method for controlling dynamic display of pixels in the air according to claim 1, characterized in that: The lift system adopts a coaxial twin-rotor structure and realizes its own torque balance through the principle of coaxial reversal of blades.

7. The method for controlling dynamic display of pixels in the air according to claim 1, characterized in that: The power supply unit uses a lithium battery that can be repeatedly charged and discharged, and the power level and the estimated duration are displayed in real time through monitoring equipment.

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