An aerial display system based on an unmanned aerial vehicle array

Abstract

The present invention discloses an aerial display system based on an unmanned aerial vehicle (UAV) array, which includes UAV devices, a ground server, and a central controller; the central controller is connected to the ground server and is used to provide a UAV management strategy for the ground server; the ground server establishes communication with the UAV devices through a wireless network; the central controller controls the UAV devices via the ground server; and the UAV devices regularly report status information to the ground server. The present invention uses highly maneuverable UAVs as pixel points to replace the pixels of the conventional LED display screens, enabling graphics to be displayed in various scenarios and breaking free from the regional limitations of traditional LED screen displays.

Description

Technical Field

[0001] The present invention relates to the technical field of screen display in electric lighting, and particularly relates to an aerial screen display system based on an unmanned aerial vehicle (UAV) array. Background Art

[0002] With the increasing maturity of multimedia promotion means, advertising through display screens has become the mainstream in the market. However, the current LED display screens used for promotion and publicity must be installed and fixed based on buildings, walls, or separate frameworks, which have visual dead angles and cannot ensure that customers in all directions can see the content displayed on the screen. Moreover, due to location reasons, the implementation effect is affected by the flow of people and there are significant limitations.

[0003] Therefore, related aerial projection technologies have also emerged. Generally, projection is used to project promotional content onto the air or the ground. However, this technology is easily blocked and requires a projection screen or curtain, so the distance is limited. To solve this problem, existing UAV aerial display technologies either control the on / off of light sources by carrying light strips or, on this basis, control the flight route of the UAVs to display simple patterns or characters; this technology cannot control the precise changes of pixel points and is similar to slightly more complex flap patterns. Summary of the Invention

[0004] In view of the above-mentioned defects existing in the prior art, the present invention proposes an aerial screen display system based on a UAV array, which can not only avoid the limitations of the display effect by location and the flow of people, but also realize the dynamic display of promotional content.

[0005] To achieve the above object, the technical solution of the present application is: an aerial screen display system based on a UAV array, including UAV devices, a ground server, and a central controller; the central controller is connected to the ground server and is used to provide a UAV management strategy for the ground server; the ground server establishes communication with the UAV devices through a wireless network; the central controller controls the UAV devices via the ground server; and the UAV devices regularly report status information to the ground server.

[0006] As a further improvement of the present invention, the UAV device includes a housing, a power control unit, a lift system, a power supply unit, a communication unit, and a packaged body light source module. The power control unit, the power supply unit, the communication unit, and the packaged body light source module are all located inside the housing. A lift system is connected to the top of the housing. The communication unit receives ground signals and supplies them to the power control unit and the packaged body light source module, and the power control unit controls the lift system according to the ground signals.

[0007] As a further improvement of the present invention, the housing is made of lightweight plastic material to reduce the weight of the airframe and enhance the mobility of the UAV.

[0008] As a further improvement of the present invention, the power control unit includes a direct current brushless motor and a motor control chip, belonging to an adjustable speed single-motor system.

[0009] As a further improvement of the present invention, the lift system adopts a coaxial dual-rotor structure. The unmanned aerial vehicle can achieve its own torque balance through the principle of coaxial reverse rotation of the blades, thereby omitting an additional balancing device and achieving stable flight. The advantage of this is that the structural space is greatly reduced and the overall structure of the unmanned aerial vehicle is simplified. Compared with general single-rotor unmanned aerial vehicles, the single-axis dual-rotor unmanned aerial vehicle has higher efficiency and stability.

[0010] As a further improvement of the present invention, the power supply unit uses a rechargeable lithium battery, and the power level and the estimated sustainable time can be displayed in real time through a monitoring device. The power supply unit supplies power to the power control unit and the lift system, and the power control unit is connected to the communication unit to achieve remote real-time operation of individual unmanned aerial vehicles.

[0011] As a further improvement of the present invention, the communication unit uses a wireless network transmission device.

[0012] As a further improvement of the present invention, the encapsulated body 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 a driving chip, and changes the light emission intensity of each light source to make the color emitted by each pixel point meet the requirements.

[0013] As a further improvement of the present invention, the encapsulated body light source module is controlled by a single-chip microcomputer, and displays the colors of the three-color light sources in real time according to the changes of the 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.

[0014] As a further improvement of the present invention, the strategy for the central controller to control the unmanned aerial vehicle device via the ground server is as follows:

[0015] Step 1: Each unmanned aerial vehicle is used as a pixel point, and the unmanned aerial vehicle array is arranged according to different resolutions. When the resolution is 320*240, 76,800 unmanned aerial vehicles are required, and when the resolution is 640×480, 307,200 unmanned aerial vehicles are required, and so on to form an unmanned aerial vehicle array;

[0016] Step 2: From a physiological perspective, when the human eye observes a static image at a medium relative resolution with a certain light brightness, the resolution angle is about 1 minute to 1.5 minutes; the value range L of the visual distance of the unmanned aerial vehicle can be obtained:

[0017] L 大= 3438 × d (mm)

[0018]

[0019] where L 大 is the maximum line-of-sight range of the UAV, and L 小 is the minimum line-of-sight range of the UAV, with the unit of mm;

[0020] The size of the UAV with its propellers unfolded is A, and the safety distance between two UAVs is B. That is, the pixel center distance d = A + B. Substituting it into the formula, the value range of the line-of-sight distance L can be obtained, which is the height range of the UAV from the ground.

[0021] Step 3. Since there are many disturbances generated by weather conditions in the outdoor environment and they are uncontrollable, for each UAV individual, PID control is adopted to eliminate the influence of various disturbances on flight stability.

[0022]

[0023] In the formula, u(t) is the current signal output by the power control unit, and K p is the proportional gain, e(t) is the difference between the current height of the UAV and the expected arrival height, T t is the integral time constant, and T D is the differential time constant;

[0024] That is, when the UAV faces disturbances, it can respond quickly. By using the height sensor in the power control unit to detect the height between the fuselage and the ground, the error between the current height and the target height is obtained. By adjusting the proportional gain K p , it can quickly reach the set height, enhance the formation efficiency of the UAV system, adjust the integral time constant T t to overcome the steady-state error still existing near the predetermined height, and adjust the differential time constant T D of the error coefficient to slow down the repeated oscillation generated when the UAV individual reaches the predetermined height.

[0025] Step 3.1. The described control method can achieve a rotational speed control system with fast response speed and small overshoot, ensuring the stable flight of UAV individuals.

[0026] Step 3.2. The same control program can be applied to each UAV individual. By only adjusting the expected coordinate positions of the pixels of each UAV, the fast transceiver of the formation can be achieved. The controller of the power control unit can select a single-chip microcomputer or a PLC, and each pixel of the UAV group can achieve adaptive control.

[0027] Step 4: In the overall control of the drone array, a leader-follower relationship is adopted, and PID parameters are established through individual drones. According to the line-of-sight range L displayed on the screen in the air, the minimum and maximum heights of the drones are set. Within this range, the drone in the lower left corner of the array system is used as the host, and it is set as the coordinate zero point for positioning.

[0028] Step 5: Each drone establishes a two-dimensional coordinate system on the ground vertical plane according to the set safety distance B, and positions and arranges each drone. 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 units of each row.

[0029] Preferably, the control of the drone array is implemented through the control instructions received by the ground server. After analyzing, packing, and integrating the instructions, they are sent to the communication unit of the drone device, and the communication unit then sends the instructions to the power control unit and the encapsulated light source module respectively to achieve the next positioning and display functions.

[0030] Preferably, the control instructions received by the ground server can be sent through a personal device terminal to achieve the control of the drone array.

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

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

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

[0034] 3) The drone array can be remotely controlled through the ground server. The proposed communication unit responds quickly and can be controlled through a personal terminal device and transmit real-time images.

[0035] 4) The power supply unit equipped on the drone is powered by a rechargeable lithium battery, and the battery level and the estimated sustainable time are displayed in real time through monitoring devices.

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

[0037] 6) The drone device selects a single-axis double-rotor model, which has stable flight and can reduce the system usage cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the device structure of the drone device of the present invention.

[0039] Wherein: 1. Housing, 2. Power control unit, 3. Lift system, 4. Power supply unit, 5. Communication unit, 6. Encapsulated body light source module. Detailed implementation manners

[0040] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, that is, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0041] The main intention of the present invention is to break the shackles of the fixed position of the LED display from the screen and realize the display needs in multiple occasions anytime and anywhere. Therefore, the present embodiment provides an aerial display system based on an unmanned aerial vehicle (UAV) array, including UAV devices, a ground server and a central controller; the central controller is connected to the ground server and is used to provide a UAV management strategy for the ground server; the ground server establishes communication with the UAV devices through a wireless network; the central controller controls the UAV devices via the ground server; the UAV devices regularly report status information to the ground server. The UAV devices include a housing, a power control unit, a lift system, a power supply unit, a communication unit and an encapsulated body light source module. The power control unit, the power supply unit, the communication unit and the encapsulated body light source module are all located inside the housing. A lift system is connected to the top of the housing. The communication unit receives a ground signal and gives it to the power control unit, and the power control unit controls the lift system and the encapsulated body light source module according to the ground signal.

[0042] Before the UAV array performs a display task, first debug a single UAV. Adopt PID control, use the motor speed as the controlled quantity, and the height of the UAV from the ground as the measurement object, and calibrate the flight state of the UAV to enable the UAV to complete a certain degree of anti-interference function in space.

[0043] The height sensor carried in the power control unit detects the height between the fuselage and the ground, obtains the error between the current height and the target height, quickly reaches the set height, enhances the formation efficiency of the UAV system, overcomes the steady-state error, and slows down the repeated oscillation generated when the individual UAV reaches the predetermined height.

[0044] When releasing the UAV array, position the upper left corner of the entire array as the host, which serves as the origin of the plane coordinate system in space. Other slave UAVs are positioned according to the positioning of the host and the previously measured safe distance of pixel points. After determining the positions, launch the UAV array in the order from bottom to top and from left to right. Each sub-UAV searches for adjacent pixel points to follow according to the safe distance.

[0045] After the drone device reaches the designated position, the light source module of the encapsulation body is initialized. The central controller decomposes the display material into pixel points, converts the digital signal into an electrical signal, and transmits it to the single-chip microcomputer of the light source module of the encapsulation body through the ground server. The single-chip microcomputer of the light source module of the encapsulation body decodes the electrical signal into a recognizable digital signal, and respectively adjusts the current magnitudes of the red light chip, the green light chip, and the blue light chip through the driving chip. The color temperature is adjusted through the three-color light sources to achieve full-color gamut coverage, and the frame rate of the screen is set to at least 30 frames per second to form an aerial display composed of suspended pixel points, completing the aerial display content. After the display task is completed, the recovery and launch of the drone are carried out in reverse order, that is, from top to bottom and from right to left. After the recovery is completed, the device is debugged, charged, and initialized to prepare for the next display work.

[0046] The foregoing description of specific exemplary embodiments of the invention has been presented for purposes of illustration and exemplification. These descriptions are not intended to limit the invention to the precise forms disclosed, and obviously, many modifications and variations are possible in light of the above teaching. The purpose of selecting and describing exemplary embodiments is to explain the specific principles of the invention and its practical applications, thereby enabling those skilled in the art to implement and utilize the various different exemplary embodiments of the invention, as well as various different selections and modifications. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. An aerial display system based on a drone array, characterized in that, It 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 a drone management strategy for the ground server; The ground server establishes communication with the drone device through a wireless network; the central controller controls the drone device via the ground server; the drone device regularly reports status information to the ground server; The drone device includes a housing, a power control unit, a lift system, a power supply unit, a communication unit, and an encapsulated body light source module. The power control unit, the power supply unit, the communication unit, and the encapsulated body light source module are all located inside the housing. A lift system is connected to the top of the housing. The communication unit receives ground signals and sends them to the power control unit and the encapsulated body light source module. The power control unit controls the lift system according to the ground signals; The encapsulated body 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 a driving chip, and changes the light emission intensity of each light source to ensure that the color emitted by each pixel point meets the requirements; The strategy for the central controller to control the drone device via the ground server is as follows: Step 1: Each drone is regarded as a pixel point, and the drone array is arranged according to different resolutions; Step 2: From a physiological perspective, when the human eye observes a static image at a certain light brightness and medium relative resolution, the resolution angle is 1 minute to 1.5 minutes; the value range L of the drone's line of sight is obtained: L 大 = 3438 × d (mm) Among them, L 大 is the maximum line-of-sight range of the drone, and L 小 is the minimum line-of-sight range of the drone, with the unit of mm; The size of the drone with its propellers unfolded is A, and the safe distance between two drones is B, that is, the pixel center distance d = A + B. Substituting it into the formula, the value range L of the line of sight is obtained, which is the height range of the drone from the ground; Step 3: For each individual drone, PID control is used to eliminate the influence 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 UAV and the expected arrival altitude, \(T\) t is the integral time constant, \(T\) D is the differential time constant; That is, when the UAV faces disturbances, the height sensor carried in the power control unit detects the height between the fuselage and the ground, obtains the error between the current height and the target height, and adjusts the proportional gain K p , reaches the set height, enhances the formation efficiency of the UAV system, and adjusts the integral time constant T t overcomes the steady-state error still existing near the predetermined height, and adjusts the differential time constant T D of the error coefficient to slow down the repeated oscillation generated when the UAV individual reaches the predetermined height; Step 4: According to the line of sight range L displayed on the air screen, set the minimum height and the maximum height of the drone; within this range, take the drone in the lower left corner of the array system as the host and set its coordinates to zero for positioning; Step 5: Each drone establishes a two-dimensional coordinate system on the ground vertical plane according to the set safe distance B, and positions and arranges each drone; when arranging the drone array, the launch logic from bottom to top and from left to right is adopted, and the arrangement is carried out row by row.

2. The air display system based on a drone array according to claim 1, characterized in that, The housing is made of lightweight plastic material.

3. The aerial display system based on an unmanned aerial vehicle array according to claim 1, wherein The power control unit includes a direct current brushless motor and a motor control chip.

4. The aerial display system based on an unmanned aerial vehicle array according to claim 1, wherein The lift system adopts a coaxial double-rotor structure, and the drone realizes its own torque balance through the principle of coaxial reverse rotation of the propeller blades.

5. The aerial display system based on a drone array according to claim 1, wherein The power supply unit uses a rechargeable lithium battery, and the battery power and the estimated duration are displayed in real time through a monitoring device.

6. The air display system based on a drone array according to claim 1, characterized in that, The communication unit uses a wireless network transmission device.

7. The air display system based on an unmanned aerial vehicle array according to claim 1, characterized in that, Each pixel point is synchronously displayed according to the needs of the actual scene, and is updated at a frequency of not less than 30 frames per second, and the image on the central controller is reflected in real time.

8. The air display system based on an unmanned aerial vehicle array according to claim 1, wherein, The encapsulated light source module is controlled by a single-chip microcomputer, and the colors of the three-color light source are displayed in real time according to the image pixel changes on the central controller, and are updated at a frequency of not less than 30 fields per second.

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