Unmanned aerial vehicle projection system and projection method

Abstract

The invention relates to the technical field of unmanned aerial vehicle application, and particularly discloses an unmanned aerial vehicle projection system and a projection method.The unmanned aerial vehicle projection system comprises a main control module, a communication module, a holder stability augmentation module, a camera and projection equipment, and the communication module, the holder stability augmentation module, the camera and the projection equipment are connected with the main control module. The main control module sends the projection content to the projection equipment to play the projection content and present a projection picture, the camera collects an image of the projection picture to obtain a monitoring picture, and the main control module generates a stability augmentation instruction according to the pose data and the monitoring picture and sends the stability augmentation instruction to the holder stability augmentation module and generates an unmanned aerial vehicle control instruction to the unmanned aerial vehicle; therefore, the pose of the unmanned aerial vehicle is adjusted, and the holder stability augmentation module executes stability augmentation operation. Through unmanned aerial vehicle pose adjustment and stability augmentation operation, the adjustment amount of the holder stability augmentation module can be reduced, the adjustment amount is not limited by the anti-shake amplitude of the holder stability augmentation module, the projection picture adjustment efficiency is improved, and the overall quality of unmanned aerial vehicle projection is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle applications, and in particular relates to an unmanned aerial vehicle projection system and a projection method. Background Art

[0002] Projection display technology has been widely used in various occasions, such as cinemas, conference rooms, educational venues, etc. However, traditional projection equipment usually needs to be fixed in a certain position, which limits its application scenarios and flexibility. With the development of technology, people's demand for more free and flexible projection methods is growing.

[0003] In recent years, the rapid development of drone technology has brought new application opportunities for projection display technology. The maneuverability and stability of drones enable drones to project images in the air, breaking the limitations of traditional projection equipment. For example, drone projection is widely used in traffic diversion and emergency rescue scenarios where manual labor is unable to reach the scene. However, it is not easy to combine drones with projection equipment. In the existing technology, anti-shake is mainly performed by the gimbal carried by the drone to ensure the quality of the projected image. However, the gimbal carried by the drone is usually small in size and the anti-shake range is limited, resulting in the quality of the projected image being limited by the anti-shake range of the gimbal. In addition, when there is a large shake, the gimbal adjustment range is large and the adjustment speed is slow, which affects the adjustment efficiency of the projected image. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a UAV projection system and a projection method, aiming to solve the problem that the existing UAV projection through gimbal anti-shake is limited by the gimbal anti-shake range and low adjustment efficiency.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions: A UAV projection system comprises a main control module, a communication module connected to the main control module, a gimbal stabilization module, a camera and a projection device, wherein the projection device is arranged on the gimbal stabilization module, the UAV projection system is mounted on the UAV and electrically connected to the UAV, and communicates with the UAV and a ground station through the communication module; The communication module is used to receive the posture data of the UAV, and receive projection content and control instructions from the ground station; The main control module is used to send the projection content to the projection device; The projection device is used to play the projection content to present a projection picture; The camera is used to capture images of the projection screen to obtain a monitoring screen; The main control module is also used to generate a stabilization instruction according to the posture data and the monitoring screen during the projection process of the projection device and send it to the pan-tilt stabilization module, and generate a drone control instruction and send it to the drone, and the drone is used to adjust the posture according to the drone control instruction; The gimbal stabilization module is used to perform stabilization operations according to the stabilization instructions.

[0006] As a further technical solution of the present invention, the main control module specifically includes the following units: A data format conversion unit, used for converting the projection content into projection data in a preset format; A projection data sending unit, used for forwarding the projection data to the projection device; The projection device specifically includes the following modules: The projection data playing module is used to play the projection data to present the projection picture.

[0007] As a further technical solution of the present invention, the main control module specifically includes the following units: A projection picture judging unit, used for judging whether the quality of the projection picture is qualified through the monitoring picture, and if not, executing the posture difference calculating unit; A posture difference calculation unit, used to calculate a posture difference amount as a difference between the posture data and the target posture data, wherein the target posture data includes a preset position coordinate, pitch angle, and heading angle of the drone when playing the projection content; A posture difference judgment unit, used to judge whether the posture difference is greater than a preset threshold, and if so, execute the first control instruction generation unit, and if not, execute the second control instruction generation unit; A first control instruction generating unit, configured to generate a UAV control instruction and a stabilization instruction according to the posture difference; A second control instruction generating unit, used for generating a stabilization instruction including the posture difference amount; The command sending unit is used to send the UAV control command to the UAV through the communication module and send the stabilization command to the gimbal stabilization module. The UAV is used to control the UAV to adjust its posture when receiving the UAV control command.

[0008] As a further technical solution of the present invention, the projection content determination unit is specifically used for: Inputting the monitoring picture into a pre-trained image quality scoring model; Identifying a projection picture area in the image quality scoring model; Predicting a picture quality score of the projection picture area in the image quality scoring model; When the picture quality score is less than a preset score threshold, it is determined that the quality of the projection picture is unqualified.

[0009] As a further technical solution of the present invention, the posture difference includes a position coordinate difference, a pitch angle difference and a heading angle difference; The posture difference calculation unit is specifically used for: Determine a target projection mode, wherein the projection mode includes a fixed-point projection mode and a mobile projection mode; Determine the coordinate weight, pitch angle weight and heading angle weight corresponding to the target projection mode; The coordinate difference, pitch angle difference, heading angle difference, coordinate weight, pitch angle weight and heading angle weight are used to calculate a weighted sum as the posture difference.

[0010] As a further technical solution of the present invention, the first control instruction generating unit is specifically used for: Determining the coordinate adjustment limit value, the pitch angle adjustment limit value and the horizontal angle adjustment limit value of the gimbal stabilization module; Calculating the product of the coordinate adjustment limit value and the preset coordinate adjustment ratio to obtain the gimbal coordinate adjustment amount; Calculating the product of the pitch angle adjustment limit value and the first angle adjustment ratio to obtain a gimbal pitch angle adjustment amount; Calculating the product of the horizontal angle adjustment limit value and the second angle adjustment ratio to obtain a horizontal angle adjustment amount of the pan / tilt head; Calculate the difference between the position coordinate difference and the gimbal coordinate adjustment to obtain the drone coordinate adjustment; The difference between the pitch angle difference and the gimbal pitch angle adjustment amount is calculated to obtain the UAV pitch angle adjustment amount; The difference between the heading angle difference and the gimbal horizontal angle adjustment is calculated to obtain the heading angle adjustment of the UAV; Generate a drone control instruction including the drone coordinate adjustment amount, the drone pitch angle adjustment amount, and the drone heading angle adjustment amount; Generate stabilization instructions including gimbal coordinate adjustment, gimbal pitch angle adjustment, and gimbal horizontal angle adjustment.

[0011] As a further technical solution of the present invention, the main control module specifically further includes the following units: A projection parameter determination unit, configured to determine projection parameters according to the projection picture, wherein the projection parameters include at least one of picture brightness, picture size, contrast, saturation, and clarity; A projection parameter sending unit is used to send the projection parameters to the projection device.

[0012] As a further technical solution of the present invention, the main control module specifically further includes the following units: A monitoring screen sending unit, used to send the monitoring screen to the ground station through the communication module, the ground station is used to display the monitoring screen, and generate a control instruction according to the monitoring screen, and send the control instruction to the drone and the main control module through the communication module, the drone is used to adjust the posture according to the control instruction; The main control module is used to send the control command to the gimbal stabilization module; The gimbal stabilization module is used to perform stabilization operations according to the control instructions.

[0013] A drone projection method, applied to any drone projection system of the present invention, specifically comprises the following steps: Receive the drone's position data and receive projection content and control instructions from the ground station; Sending the projection content to the projection device, the projection device is used to play the projection content to present a projection picture; Capturing an image of the projection screen to obtain a monitoring screen; During the projection process of the projection device, a stabilization instruction is generated according to the posture data and the monitoring screen and sent to the gimbal stabilization module, and a drone control instruction is generated and sent to the drone. The drone is used to adjust the posture according to the drone control instruction, and the gimbal stabilization module is used to perform stabilization operations according to the stabilization instruction.

[0014] As a further technical solution of the present invention, during the projection process of the projection device, a stabilization instruction is generated according to the posture data and the monitoring screen and sent to the gimbal stabilization module, and a drone control instruction is generated and sent to the drone, specifically including the following steps: Judging whether the quality of the projection picture is qualified through the monitoring picture; If not, calculating the difference between the posture data and the target posture data to obtain a posture difference amount, wherein the target posture data includes the preset position coordinates, pitch angle, and heading angle of the drone when playing the projection content; Determine whether the posture difference is greater than a preset threshold; If yes, generate drone control instructions and stabilization instructions according to the posture difference; If not, generating a stabilization instruction including the posture difference; The UAV control instruction is sent to the UAV through the communication module, and the stabilization instruction is sent to the gimbal stabilization module. The UAV is used to control the UAV to adjust its posture when receiving the UAV control instruction, and the gimbal stabilization module is used to perform stabilization operations according to the stabilization instruction.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The drone projection system of the embodiment of the present invention includes a main control module, a communication module connected to the main control module, a gimbal stabilization module, a camera and a projection device. When the projection device plays the projection content and the projection screen, the camera collects the monitoring screen of the projection screen, and further generates a stabilization instruction according to the posture data and the monitoring screen of the drone and sends it to the gimbal stabilization module, and generates a drone control instruction and sends it to the drone, so that the drone is used to adjust the posture according to the drone control instruction, and the gimbal stabilization module performs the stabilization operation according to the stabilization instruction, so that the drone posture and the gimbal stabilization module are controlled and adjusted at the same time through the feedback of the drone posture data and the monitoring screen. The posture can be adjusted by the drone in the case of large shaking, avoiding the problem that the gimbal stabilization module is limited by the anti-shake amplitude and cannot be adjusted in place, and the adjustment of the drone posture can be reduced by adjusting the gimbal stabilization module, so that the projection picture adjustment is not limited by the anti-shake amplitude of the gimbal stabilization module, and the projection picture adjustment efficiency is improved, thereby improving the overall quality of the drone projection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0017] Figure 1 A system architecture block diagram of a drone projection system provided by an embodiment of the present invention is shown; Figure 2 A flow chart of a drone projection method provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] The drone projection system of the embodiment of the present invention can be applied to outdoor or indoor scenes that require projection. For example, it can be applied to scenes where a traffic accident occurs on a highway and traffic congestion makes it impossible for traffic rescue and diversion personnel to divert to the diversion location. A drone can be used to fly to the diversion location to project diversion images and diversion signs in the air. Or it can be applied to scenes where a large area needs to be evacuated due to a natural disaster and a drone can be used to project content related to emergency evacuation and rescue in the air. Of course, it can also be other scenes where there is no fixed projection location and the projection equipment cannot be installed. This embodiment does not limit the application scenarios of the drone projection system.

[0020] Figure 1 FIG. 1 is a system architecture block diagram of a UAV projection system according to an embodiment of the present invention. Figure 1 As shown, the UAV projection system of an embodiment of the present invention includes a main control module, a communication module connected to the main control module, a gimbal stabilization module, a camera and a projection device, wherein the projection device is arranged on the gimbal stabilization module, the UAV projection system is mounted on the UAV and electrically connected to the UAV, and communicates with the UAV and the ground station through the communication module.

[0021] Exemplarily, the entire drone projection system can be mounted on a drone through a mounting structure, and can be electrically connected to the drone through an electrical interface to obtain power from the drone and communicate with the drone, wherein the drone can be an electric drone or a fuel drone, and the drone communicates with a ground station (remote control terminal such as a remote control, APP, PC, WeChat app, etc.) through its communication link.

[0022] The main control module can be the processor of the drone projection system and various algorithms integrated in the processor, which are used to process data from other modules and control each module. The communication module can be a wireless communication module, which can directly communicate with the ground station of the drone to receive projection content and related control instructions from the ground station, such as instructions for controlling the drone's posture, instructions for controlling the camera, instructions for controlling the projection device, etc. Of course, the communication module can also be connected to the communication link in the drone to communicate with the ground station through the drone's communication link.

[0023] The gimbal stabilization module includes a mechanical structure part and a controller, wherein the mechanical structure part is used to carry the projection device, and the controller is used to control the mechanical structure part to perform a stabilization operation, so as to adjust the posture of the projection device and realize the anti-shake function through the mechanical structure part, wherein the mechanical structure part can be a three-axis gimbal, which can rotate 360° in the horizontal direction and the distance in the horizontal direction can be adjusted. The three-axis gimbal is driven by a motor. This embodiment does not limit the mechanical structure part of the gimbal stabilization module, as long as it can adjust the posture of the projection device.

[0024] The projection device can be a laser projection, LED projection, DLP (digital light processing) projection, holographic projection, etc. In practical applications, different projection devices can be selected according to the projection scene. This embodiment does not limit the projection device. Since the projection device usually requires a projection screen, the drone of this embodiment can respond to manual flight control operations. After flying to the location where projection is required, the projection area is determined based on manual operations, such as selecting the ground, wall or other areas such as mountains that are suitable as projection screens as the projection area. Of course, if the projection device is a holographic projection device or does not require a projection screen, there is no need to select a projection screen.

[0025] In this embodiment, the communication module is used to receive the posture data of the drone, receive the projection content and related control instructions from the ground station, the main control module is used to send the projection content to the projection device, the projection device is used to play the projection content to present the projection screen, the camera is used to capture the image of the projection screen to obtain the monitoring screen, and the main control module is also used to generate stabilization instructions according to the posture data and the monitoring screen during the projection process of the projection device and send them to the gimbal stabilization module, as well as generate drone control instructions and send them to the drone, the drone is used to adjust the posture according to the drone control instructions, and the gimbal stabilization module is used to perform stabilization operations according to the stabilization instructions.

[0026] Among them, the posture data of the drone may include the x, y, and z coordinates of the drone, as well as the pitch angle and the heading angle in the horizontal direction of the drone. The projection content may be the data that the projection device needs to project. The communication module may receive the posture data and the projection content directly from the ground station, or may communicate with the drone and receive the posture data and the projection content from the communication link between the drone and the ground station. The target posture data may be first sent to the communication module through the ground station, and the main control module receives the target posture data from the communication module. The target posture data may be the posture data of the drone at the projection location. When the real-time posture data of the drone is the same as the target posture data, the main control module will send the projection content to the projection device, and the projection device will play the projection content in a pre-selected area to present a projection picture.

[0027] At the same time, the camera is controlled to capture images of the projection screen to obtain a monitoring screen. The main control module determines whether the projection screen quality is qualified based on the monitoring screen, such as whether the projection screen size is appropriate and whether the projection screen is clear. If it is unqualified, the drone control command and stabilization command are generated by comparing the real-time posture data of the drone with the target posture data. The drone control command is used to adjust the posture of the drone to roughly adjust the posture of the projection device, and the stabilization command is used to control the gimbal stabilization module to fine-tune the posture of the projection device. The drone can be used to adjust the posture in the case of large jitter, avoiding the problem that the gimbal stabilization module is limited by the anti-shake amplitude and cannot be adjusted in place. Moreover, through the adjustment of the drone posture, the adjustment amount of the gimbal stabilization module can be reduced, so that the projection screen adjustment is not limited by the anti-shake amplitude of the gimbal stabilization module, and the projection screen adjustment efficiency is improved, thereby improving the overall quality of the drone projection.

[0028] In an optional embodiment, the main control module specifically includes a data format conversion unit and a projection data sending unit, and the projection device specifically includes a projection data playback module. The data format conversion unit is used to convert the projection content into projection data in a preset format, the projection data sending unit is used to forward the projection data to the projection device, and the projection data playback module is used to play the projection data to present the projection picture. Exemplarily, the communication module communicates with the drone and receives the projection content from the communication link between the drone and the ground station. Since the projection content is transmitted through the communication link between the drone and the ground station, the format cannot be directly applied to the projection device for playback during transmission. It is necessary to convert the projection content into projection data in a preset format and send it to the projection device, so as to realize the transmission and playback of the content through the communication link between the drone and the ground station. There is no need to set a data conversion module on the projection device, which can reduce the size of the projection device, making it easy to carry the projection device on the drone, and expanding the types of projection devices that can be carried on the drone, without being restricted by the playback data format of the projection device.

[0029] In another embodiment, the main control module specifically includes a projection picture judgment unit, a posture difference calculation unit, a posture difference judgment unit, a first control instruction generation unit, a second control instruction generation unit and an instruction sending unit, wherein the projection picture judgment unit is used to judge whether the quality of the projection picture is qualified by monitoring the picture, if not, execute the posture difference calculation unit, the posture difference calculation unit is used to calculate the difference between the posture data and the target posture data to obtain the posture difference amount, the target posture data includes the preset position coordinates, pitch angle, and heading angle of the drone when playing the projection content, the posture difference judgment unit is used to judge whether the posture difference amount is greater than a preset threshold, if so, execute the first control instruction generation unit, if not, execute the second control instruction generation unit, the first control instruction generation unit is used to generate drone control instructions and stabilization instructions according to the posture difference amount, the second control instruction generation unit is used to generate stabilization instructions including the posture difference amount, the instruction sending unit is used to send the drone control instruction to the drone through the communication module and send the stabilization instruction to the gimbal stabilization module, and the drone is used to control the drone to adjust its posture when receiving the drone control instruction.

[0030] Specifically, the projection content judgment unit is used to input the monitoring screen into a pre-trained image quality scoring model, identify the projection screen area in the image quality scoring model, predict the picture quality score of the projection screen area in the image quality scoring model, and when the picture quality score is less than a preset score threshold, determine that the quality of the projection screen is unqualified. Exemplarily, a plurality of images of different qualities can be played through a projection device and a camera can be used to capture the images as training images, a projection image detection frame is marked in the training image and a quality score is marked, the training image is used to train an image quality scoring model, the projection image detection loss rate and the quality score loss rate are calculated during the training process, the sum of the projection image detection loss rate and the quality score loss rate is used as the total loss rate, and the model parameters are adjusted according to the total loss rate until the projection image detection loss rate, the quality score loss rate and the total loss rate are all less than corresponding thresholds, wherein, when the projection image detection loss rate is calculated, the sum of the differences between the center of the standard detection frame and the predicted detection frame and a pair of diagonal points can be calculated as the projection image detection loss rate, and when the quality score loss rate is calculated, the mean square error of standard and predicted image quality indicators such as brightness, clarity, contrast, and saturation can be calculated as the quality score loss rate.

[0031] Among them, since the posture data includes coordinates, pitch angle and heading angle, the posture difference includes position coordinate difference, pitch angle difference and heading angle difference. The posture difference calculation unit is specifically used to determine the target projection mode, the projection mode includes a fixed-point projection mode and a mobile projection mode, determine the coordinate weight, pitch angle weight and heading angle weight corresponding to the target projection mode, and use the coordinate difference, pitch angle difference, heading angle difference, coordinate weight, pitch angle weight and heading angle weight to calculate the weighted sum as the posture difference. Among them, the fixed-point projection mode may refer to a projection mode in which both the position and the projection area of ​​the drone are fixed, such as a drone projecting traffic diversion content onto a certain traffic sign or a certain section of the road on a traffic road. The mobile projection mode may be a projection mode in which both the position and the projection area of ​​the drone change dynamically, such as a drone projecting evacuation content in different areas while flying in a natural disaster area. For example, assuming that the coordinate weight, pitch angle weight, and heading angle weight of the fixed-point projection mode are w11, w12, and w13, respectively, and the coordinate weight, pitch angle weight, and heading angle weight of the mobile projection mode are w21, w22, and w23, respectively. In the fixed-point projection mode, w11 is the largest to ensure that the position of the drone remains unchanged. In the mobile projection mode, w22 and w23 are both greater than w21 to ensure that the posture of the drone is prioritized. The posture difference diff calculation formula is as follows: diff= POS×wi1+ angle_pitch×wi2+ angle_Horizontal×wi3; Among them, i represents the projection mode, i=1 represents the fixed-point projection mode, i=2 represents the mobile projection mode, POS is the coordinate difference, which can be the average of the absolute values ​​of the differences between the coordinates in the real-time pose data and the target pose data, angle_pitch is the pitch angle difference, which can be the absolute value of the difference between the pitch angle in the real-time pose data and the target pose data, angle_Horizontal is the heading angle difference, which can be the absolute value of the difference between the heading angle in the real-time pose data and the target pose data.

[0032] In one embodiment, the first control instruction generating unit is specifically used to determine the coordinate adjustment limit value, pitch angle adjustment limit value and horizontal angle adjustment limit value of the gimbal stabilization module, calculate the product of the coordinate adjustment limit value and the preset coordinate adjustment ratio to obtain the gimbal coordinate adjustment amount, calculate the product of the pitch angle adjustment limit value and the first angle adjustment ratio to obtain the gimbal pitch angle adjustment amount, calculate the product of the horizontal angle adjustment limit value and the second angle adjustment ratio to obtain the gimbal horizontal angle adjustment amount, calculate the difference between the position coordinate difference amount and the gimbal coordinate adjustment amount to obtain the drone coordinate adjustment amount, calculate the difference between the pitch angle difference amount and the gimbal pitch angle adjustment amount to obtain the drone pitch angle adjustment amount, calculate the difference between the heading angle difference amount and the gimbal horizontal angle adjustment amount to obtain the drone heading angle adjustment amount, generate a drone control instruction including the drone coordinate adjustment amount, the drone pitch angle adjustment amount and the drone heading angle adjustment amount, and generate a stabilization instruction including the gimbal coordinate adjustment amount, the gimbal pitch angle adjustment amount and the gimbal horizontal angle adjustment amount.

[0033] When the posture difference is greater than a preset threshold, a related control instruction is generated by the first control instruction generating unit, wherein the preset threshold can be determined according to the adjustment limit and adjustment efficiency of the gimbal stabilization module, so that when the posture difference is too large, an instruction for simultaneously adjusting the posture of the UAV and the gimbal stabilization module is generated by the first control instruction, wherein the above-mentioned adjustment limit value can be the limit value that the gimbal stabilization module can adjust in terms of the mechanical structure of the gimbal coordinates, pitch angle, and horizontal angle, and the adjustment ratio can be a value less than 1, and exemplarily, it can be 80%. By adjusting the ratio, the gimbal stabilization module can be avoided from performing extreme adjustments. On the one hand, it can be avoided that the gimbal stabilization module performs extreme adjustments to accelerate life loss, and on the other hand, it can reduce the adjustment amount of the gimbal stabilization module and improve the adjustment efficiency.

[0034] Exemplarily, assuming that the calculated posture difference includes the following coordinate difference: x=0, y=-30, z=0, angle_pitch=75°, angle_Horizontal =-55°, where y, angle_pitch and angle_Horizontal all exceed the corresponding thresholds, the first control instruction generation module is used to generate the corresponding instruction. If the y coordinate adjustment limit value of the gimbal stabilization module is + / -15, the pitch angle adjustment limit value is + / -45°, and the horizontal angle adjustment limit value is + / -60° (even if the gimbal stabilization module is adjustable 360° horizontally, the horizontal angle adjustment limit value is set to + / -60° for large adjustments), if the preset coordinate adjustment ratio is 80%, the first angle adjustment ratio and the second angle adjustment ratio are both 60%, the product of the y coordinate adjustment limit value -15 and the preset coordinate adjustment ratio 80% is calculated as -15×80%=-9 as the gimbal coordinate adjustment amount of the gimbal stabilization platform, and the product of the pitch angle adjustment limit value 45° and the first angle adjustment ratio 80% is calculated as 45 °×60%=25° is used as the gimbal pitch angle adjustment amount of the gimbal stabilization platform, the product of the horizontal angle adjustment limit value -60° and the second angle adjustment ratio 80% is calculated as -60×60%=-36° as the gimbal horizontal angle adjustment amount of the gimbal stabilization platform, and the coordinate adjustment amount of the UAV is further calculated as -30-(-9)=-21, the pitch angle adjustment amount of the UAV is calculated as 75°-25=50°, and the horizontal angle adjustment amount of the UAV is calculated as -55°-(-36°)=-19°, thereby generating a UAV control instruction including the coordinate adjustment amount, pitch angle adjustment amount and horizontal angle adjustment amount of the above-mentioned UAV, and generating a stabilization instruction including the above-mentioned gimbal coordinate adjustment amount, gimbal pitch angle adjustment amount and gimbal horizontal angle adjustment amount.

[0035] In another embodiment, if the amount of posture difference is less than a preset threshold, it indicates that the posture difference is small, and rapid adjustment can be achieved through the gimbal stabilization platform. The gimbal stabilization module can be controlled through the second control instruction generation unit including a stabilization instruction for the posture difference. The posture difference caused by the shaking of the balanced drone is adjusted through the gimbal stabilization module, and there is no need to adjust the posture of the drone. This can avoid frequent adjustments to the drone posture when the drone shakes in a small range, and can give full play to the anti-shake effect of the gimbal stabilization module.

[0036] In an optional embodiment, the main control module may further include a monitoring screen sending unit, which is used to send the monitoring screen to the ground station through the communication module. The ground station is used to display the monitoring screen, and generate control instructions based on the monitoring screen, and send the control instructions to the drone and the main control module through the communication module. The drone is used to adjust the posture according to the control instructions, and the main control module is used to send the control instructions to the gimbal stabilization module, and the gimbal stabilization module is used to perform stabilization operations according to the control instructions. That is, compared with generating control instructions in the main control module, the monitoring screen can be sent to the ground station, and the drone control instructions and / or stabilization instructions can be generated by manual operation on the ground station or related algorithms (such as the control instruction-related modules and units generated in the main control module are transplanted to the ground station) to reduce the computing power burden of the main control module, and it can be realized by displaying the monitoring screen on the ground station to realize manual supervision of the projection quality.

[0037] In another embodiment, the main control module further includes a projection parameter determination unit and a projection parameter sending unit. The projection parameter determination unit is used to determine the projection parameters according to the projection picture, and the projection parameters include at least one of picture brightness, picture size, contrast, saturation, and clarity. The projection parameter sending unit is used to send the projection parameters to the projection device. Specifically, after the score of the projection picture is obtained by the projection picture judgment unit, the corresponding projection parameters can be found in a pre-configured score-projection parameter table according to the score. The projection parameters are projection parameters that adjust the score to an ideal score. The projection parameters are sent to the projection device, so that the projection device adjusts the aperture, focal length, power output, etc. to improve the quality of the projection picture to a qualified state.

[0038] The drone projection system of the embodiment of the present invention includes a main control module, a communication module connected to the main control module, a gimbal stabilization module, a camera and a projection device. When the projection device plays the projection content and the projection screen, the camera collects the monitoring screen of the projection screen, and further generates a stabilization instruction according to the posture data and the monitoring screen of the drone and sends it to the gimbal stabilization module, and generates a drone control instruction and sends it to the drone, so that the drone is used to adjust the posture according to the drone control instruction, and the gimbal stabilization module performs the stabilization operation according to the stabilization instruction, so that the drone posture and the gimbal stabilization module are controlled and adjusted at the same time through the feedback of the drone posture data and the monitoring screen. The posture can be adjusted by the drone in the case of large shaking, avoiding the problem that the gimbal stabilization module is limited by the anti-shake amplitude and cannot be adjusted in place, and the adjustment of the drone posture can be reduced by adjusting the gimbal stabilization module, so that the projection picture adjustment is not limited by the anti-shake amplitude of the gimbal stabilization module, and the projection picture adjustment efficiency is improved, thereby improving the overall quality of the drone projection.

[0039] Furthermore, when the posture difference is greater than a preset threshold, the first control instruction generating unit generates UAV control instructions and stabilization instructions, and when the posture difference is less than the preset threshold, the second control instruction generating unit generates stabilization instructions, thereby achieving simultaneous adjustment of the UAV and the gimbal stabilization module when the posture difference is large, and adjustment of the gimbal stabilization module when the posture difference is small. When the UAV shakes significantly, the UAV can perform coarse posture adjustment, and the gimbal stabilization module can perform fine adjustment. When the posture difference is small, there is no need to adjust the UAV's posture, which can avoid frequent adjustment of the UAV's posture when the UAV shakes in a small range, and can give full play to the anti-shake effect of the gimbal stabilization module.

[0040] Figure 2 The flowchart of the drone projection method provided by the embodiment of the present invention is shown. Specifically, the drone projection method of the embodiment of the present invention is applied to the drone projection system of the embodiment of the present invention, and specifically includes the following steps: Step S201, receiving the posture data of the drone and receiving the projection content and control instructions from the ground station.

[0041] like Figure 1 As shown, the main control module can receive the drone's posture data, projection content and control instructions from the drone or ground station through the communication module, wherein the control instructions can be instructions for controlling the drone's posture, instructions for controlling the camera to capture images, and instructions for controlling the projection device to play the projection content.

[0042] Step S202: sending the projection content to the projection device, which is used to play the projection content to present a projection picture.

[0043] Exemplarily, the main control module can convert the projection content received from the communication link of the drone into projection data in a preset format, and forward the projection data to the projection device, which plays the projection data to present a projection picture.

[0044] Step S203, capturing images of the projection screen to obtain a monitoring screen.

[0045] Step S204, during the projection process of the projection device, a stabilization instruction is generated according to the posture data and the monitoring screen and sent to the gimbal stabilization module, and a drone control instruction is generated and sent to the drone. The drone is used to adjust the posture according to the drone control instruction, and the gimbal stabilization module is used to perform the stabilization operation according to the stabilization instruction.

[0046] In one embodiment, step S204 specifically includes the following sub-steps: Sub-step S2041, judging whether the quality of the projection picture is qualified by monitoring the picture, if not, executing the posture difference calculation unit; Sub-step S2042, calculating the difference between the pose data and the target pose data as a pose difference, wherein the target pose data includes the preset position coordinates, pitch angle, and heading angle of the drone when playing the projection content; Sub-step S2043, determining whether the posture difference is greater than a preset threshold, if so, executing sub-step S2044, if not, executing sub-step S2045; Sub-step S2044, generating drone control instructions and stabilization instructions according to the posture difference; Sub-step S2045, generating a stabilization instruction including a posture difference amount; Sub-step S2046, sending the drone control command to the drone through the communication module and sending the stabilization command to the gimbal stabilization module, the drone is used to control the drone to adjust its posture when receiving the drone control command.

[0047] It should be noted that, for the method embodiment, since it is basically similar to the system embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the system embodiment.

[0048] The drone projection method provided by the embodiment of the present invention is applied to the drone projection system provided by the embodiment of the present invention, so that the drone projection method has corresponding beneficial effects.

[0049] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0050] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0051] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0052] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

[0053] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A drone projection system, characterized in that: It includes a main control module, a communication module connected to the main control module, a gimbal stabilization module, a camera and a projection device, wherein the projection device is arranged on the gimbal stabilization module, the UAV projection system is mounted on the UAV and electrically connected to the UAV, and communicates with the UAV and the ground station through the communication module; The communication module is used to receive the posture data of the UAV, and receive projection content and control instructions from the ground station; The main control module is used to send the projection content to the projection device; The projection device is used to play the projection content to present a projection picture; The camera is used to capture images of the projection screen to obtain a monitoring screen; The main control module is also used to generate a stabilization instruction according to the posture data and the monitoring screen during the projection process of the projection device and send it to the pan-tilt stabilization module, and generate a drone control instruction and send it to the drone, and the drone is used to adjust the posture according to the drone control instruction; The gimbal stabilization module is used to perform stabilization operations according to the stabilization instructions.

2. The drone projection system according to claim 1, characterized in that: The main control module specifically includes the following units: A data format conversion unit, used for converting the projection content into projection data in a preset format; A projection data sending unit, used for forwarding the projection data to the projection device; The projection device specifically includes the following modules: The projection data playing module is used to play the projection data to present the projection picture.

3. The drone projection system according to claim 1, characterized in that: The main control module specifically includes the following units: A projection picture judging unit, used for judging whether the quality of the projection picture is qualified through the monitoring picture, and if not, executing the posture difference calculating unit; A posture difference calculation unit, used to calculate a posture difference amount as a difference between the posture data and the target posture data, wherein the target posture data includes a preset position coordinate, pitch angle, and heading angle of the drone when playing the projection content; A posture difference judgment unit, used to judge whether the posture difference is greater than a preset threshold, and if so, execute the first control instruction generation unit, and if not, execute the second control instruction generation unit; A first control instruction generating unit, configured to generate a UAV control instruction and a stabilization instruction according to the posture difference; A second control instruction generating unit, used for generating a stabilization instruction including the posture difference amount; The command sending unit is used to send the UAV control command to the UAV through the communication module and send the stabilization command to the gimbal stabilization module. The UAV is used to control the UAV to adjust its posture when receiving the UAV control command.

4. The drone projection system according to claim 3, characterized in that: The projection content judgment unit is specifically used for: Inputting the monitoring picture into a pre-trained image quality scoring model; Identifying a projection picture area in the image quality scoring model; Predicting a picture quality score of the projection picture area in the image quality scoring model; When the picture quality score is less than a preset score threshold, it is determined that the quality of the projection picture is unqualified.

5. The drone projection system according to claim 3, characterized in that: The posture difference includes a position coordinate difference, a pitch angle difference and a heading angle difference; The posture difference calculation unit is specifically used for: Determine a target projection mode, wherein the projection mode includes a fixed-point projection mode and a mobile projection mode; Determine the coordinate weight, pitch angle weight and heading angle weight corresponding to the target projection mode; The coordinate difference, pitch angle difference, heading angle difference, coordinate weight, pitch angle weight and heading angle weight are used to calculate a weighted sum as the posture difference.

6. The drone projection system according to claim 5, characterized in that: The first control instruction generating unit is specifically used for: Determining the coordinate adjustment limit value, the pitch angle adjustment limit value and the horizontal angle adjustment limit value of the gimbal stabilization module; Calculating the product of the coordinate adjustment limit value and the preset coordinate adjustment ratio to obtain the gimbal coordinate adjustment amount; Calculating the product of the pitch angle adjustment limit value and the first angle adjustment ratio to obtain the gimbal pitch angle adjustment amount; Calculating the product of the horizontal angle adjustment limit value and the second angle adjustment ratio to obtain a horizontal angle adjustment amount of the pan / tilt head; Calculate the difference between the position coordinate difference and the gimbal coordinate adjustment to obtain the drone coordinate adjustment; The difference between the pitch angle difference and the gimbal pitch angle adjustment amount is calculated to obtain the UAV pitch angle adjustment amount; The difference between the heading angle difference and the gimbal horizontal angle adjustment is calculated to obtain the heading angle adjustment of the UAV; Generate a drone control instruction including the drone coordinate adjustment amount, the drone pitch angle adjustment amount, and the drone heading angle adjustment amount; Generate stabilization instructions including gimbal coordinate adjustment, gimbal pitch angle adjustment, and gimbal horizontal angle adjustment.

7. The drone projection system according to claim 3, characterized in that: The main control module specifically includes the following units: A projection parameter determination unit, configured to determine projection parameters according to the projection picture, wherein the projection parameters include at least one of picture brightness, picture size, contrast, saturation, and clarity; A projection parameter sending unit is used to send the projection parameters to the projection device.

8. The drone projection system according to claim 1 or 2, characterized in that: The main control module specifically includes the following units: A monitoring screen sending unit, used to send the monitoring screen to the ground station through the communication module, the ground station is used to display the monitoring screen, and generate a control instruction according to the monitoring screen, and send the control instruction to the drone and the main control module through the communication module, the drone is used to adjust the posture according to the control instruction; The main control module is used to send the control command to the gimbal stabilization module; The gimbal stabilization module is used to perform stabilization operations according to the control instructions.

9. A drone projection method, characterized in that: The drone projection system according to any one of claims 1 to 8 specifically comprises the following steps: Receive the drone's position data and receive projection content and control instructions from the ground station; Sending the projection content to the projection device, the projection device is used to play the projection content to present a projection picture; Capturing an image of the projection screen to obtain a monitoring screen; During the projection process of the projection device, a stabilization instruction is generated according to the posture data and the monitoring screen and sent to the gimbal stabilization module, and a drone control instruction is generated and sent to the drone. The drone is used to adjust the posture according to the drone control instruction, and the gimbal stabilization module is used to perform stabilization operations according to the stabilization instruction.

10. The drone projection method according to claim 9, characterized in that: During the projection process of the projection device, a stabilization instruction is generated according to the posture data and the monitoring screen and sent to the gimbal stabilization module, and a drone control instruction is generated and sent to the drone, specifically including the following steps: Judging whether the quality of the projection picture is qualified through the monitoring picture; If not, calculating the difference between the posture data and the target posture data to obtain a posture difference amount, wherein the target posture data includes the preset position coordinates, pitch angle, and heading angle of the drone when playing the projection content; Determine whether the posture difference is greater than a preset threshold; If yes, generate drone control instructions and stabilization instructions according to the posture difference; If not, generating a stabilization instruction including the posture difference; The UAV control instruction is sent to the UAV through the communication module, and the stabilization instruction is sent to the gimbal stabilization module. The UAV is used to control the UAV to adjust its posture when receiving the UAV control instruction, and the gimbal stabilization module is used to perform stabilization operations according to the stabilization instruction.

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