Method, device and system for controlling mobile platform cluster

Abstract

The embodiment of the invention provides a control method, device and system for a mobile platform cluster. The method comprises the steps that control instructions are obtained, a movable platform cluster comprises a plurality of movable platforms, and the control instructions obtained by the movable platforms are different; each movable platform carries a light-emitting device, and each light-emitting device comprises one or more light-emitting units; in response to the control instruction, (a) controlling each movable platform to move to a respective corresponding target position, and (b) controlling the light-emitting state of the light-emitting device carried by each movable platform, so that the light-emitting devices of the plurality of movable platforms jointly display a target model; wherein the brightness of the preset visual surface of the target model is higher than the brightness of other surfaces, except the preset visual surface, in the target model. In this way, interference of light rays of the light-emitting units on other surfaces on the display effect of the preset visual surface can be avoided, and the display effect of the target model is improved.

Description

Technical Field

[0001] The present application relates to the field of mobile platform control technology, and in particular to a control method, device and system for a mobile platform cluster. Background Art

[0002] Mobile platforms such as drones and intelligent robots are widely used in various fields. In some scenarios, a cluster of multiple mobile platforms can be used to jointly achieve a task. For example, a light-emitting device can be mounted on each mobile platform, and various models can be displayed through multiple mobile platforms equipped with light-emitting devices to be used as signs in specific scenarios or for light shows. At present, when using light-emitting devices mounted on multiple mobile platforms to display models, the display effect is poor, and there will be problems such as messy lighting, blurred models, and unclear boundaries. Therefore, it is necessary to provide a solution to improve the display effect. Summary of the invention

[0003] In view of this, the present application provides a control method, device and system for a mobile platform cluster.

[0004] According to a first aspect of the present application, a control method for a mobile platform cluster is provided, the method comprising:

[0005] Obtain control instructions, wherein the movable platform cluster includes multiple movable platforms, each of the movable platforms obtains the control instructions differently; each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units; in response to the control instructions, (a) each of the movable platforms is controlled to move to its corresponding target position, and (b) the light-emitting state of the light-emitting device carried by each of the movable platforms is controlled so that the light-emitting devices of the multiple movable platforms jointly display a target model; wherein the brightness of a preset visible surface of the target model is higher than the brightness of other surfaces of the target model except the preset visible surface.

[0006] According to a second aspect of the present application, a control method for a mobile platform cluster is provided, the method comprising:

[0007] Obtain control instructions, wherein the movable platform cluster includes multiple movable platforms, each of the movable platforms obtains the control instructions differently; each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units; in response to the control instructions, (a) each of the movable platforms is controlled to move to its corresponding target position, and (b) the light-emitting state of the light-emitting device carried by each of the movable platforms is controlled so that the light-emitting devices of the multiple movable platforms can jointly display the target model; wherein the light-emitting units carried by the movable platforms located on both sides of the specified section of the target model are controlled in different ways.

[0008] According to a third aspect of the present application, a control method for a mobile platform cluster is provided, the method comprising:

[0009] Obtaining a control instruction, wherein the movable platform cluster includes a plurality of movable platforms, each of which obtains the control instruction differently; each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units; in response to the control instruction, (a) controlling each of the movable platforms to move to a corresponding target position, and (b) controlling the light-emitting state of the light-emitting device carried by each of the movable platforms, so that the light-emitting devices of the plurality of movable platforms jointly display a target model;

[0010] Each light-emitting device emits light within a preset angle range, and the preset angle range is an angle range determined by taking the normal line of the target model surface where each light-emitting device is located as the central axis.

[0011] According to the fourth aspect of the present application, a mobile platform cluster control device is provided, the device comprising a processor, a memory, and a computer program stored in the memory for execution by the processor, and the processor implements the methods mentioned in the first aspect, the second aspect, and / or the third aspect when executing the computer program.

[0012] According to a fifth aspect of the present application, there is provided a movable platform cluster system, the system comprising a plurality of movable platforms and a control station, wherein each movable platform is equipped with a light emitting device, and each light emitting device comprises one or more light emitting units;

[0013] The multiple movable platforms obtain control instructions from the control station, and the control instructions obtained by each movable platform are different. The control instructions are used to (a) control the multiple movable platforms to move to their respective corresponding target positions, and (b) control the light-emitting states of the light-emitting devices carried by the multiple movable platforms, so that the light-emitting devices of the multiple movable platforms can jointly display a target model; wherein the brightness of a preset visible surface of the target model is higher than the brightness of other surfaces of the target model except the preset visible surface.

[0014] According to the sixth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed, the method mentioned in the first aspect, the second aspect, and / or the third aspect is implemented.

[0015] By applying the solution provided in the present application, considering that when the target model is displayed using the light-emitting units carried by the mobile platform cluster, certain visible surfaces on the target model need to be presented to the audience (for example, the main viewing surface), the light-emitting units on the mobile platform cluster can be reasonably controlled to make the brightness of these visible surfaces higher, while for other surfaces except the visible surface, the brightness can be lower, so that the light from other surfaces will not cause excessive interference to the light of the visible surface, thereby reducing the problems of messy lighting and unclear model boundaries of the displayed model, and improving the display effect of the target model.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 This is a schematic diagram of a drone equipped with a light-emitting device according to one embodiment of the present application.

[0019] Figure 2 It is a schematic diagram of a model in which the related technology of the present application is displayed by a light-emitting device carried by a movable cluster.

[0020] Figure 3 This is a schematic diagram showing the principle of a poor model effect caused by an embodiment of the present application.

[0021] Figure 4It is a schematic diagram of a model displayed by a light-emitting device carried by a movable cluster according to an embodiment of the present application.

[0022] Figure 5 It is a schematic diagram of an application scenario of an embodiment of the present application.

[0023] Figure 6 It is a schematic diagram of a control method for a movable platform according to an embodiment of the present application.

[0024] FIG. 7( a ) is a schematic diagram of the lighting state of the lighting device in a scene with fixed audience seats according to an embodiment of the present application.

[0025] FIG. 7( b ) is a schematic diagram of the lighting state of the lighting device in a scene with fixed audience seats according to another embodiment of the present application.

[0026] Figure 8 It is a schematic diagram of a preset visible surface in a scenario where the audience seats are not fixed according to an embodiment of the present application.

[0027] Fig. 9 It is a schematic diagram of movable platforms distributed on the front and rear surfaces of a target model according to an embodiment of the present application.

[0028] Fig.10 It is a schematic diagram of movable platforms distributed on the front and rear surfaces of a target model according to another embodiment of the present application.

[0029] Fig.11 It is a schematic diagram showing that the luminous brightness of the luminous unit of the preset visible surface of an embodiment of the present application is in a gradual changing state.

[0030] Fig.12 It is a schematic diagram of the deviation angle of one embodiment of the present application.

[0031] Fig.13 It is a schematic diagram of the structure of a light emitting device according to an embodiment of the present application.

[0032] Fig.14 It is a schematic diagram of the structure of a light emitting device according to another embodiment of the present application.

[0033] Fig.15 It is a schematic diagram of the light emitting angle range of a light emitting unit according to an embodiment of the present application.

[0034] Fig.16 It is a schematic diagram of the logical structure of a mobile platform cluster control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] Mobile platforms such as drones and intelligent robots are widely used in various fields. In some scenarios, a cluster of multiple mobile platforms can be used to jointly accomplish a task. For example, various models can be displayed through a cluster of multiple mobile platforms equipped with light-emitting devices to be used as signs in specific scenarios or for light shows.

[0037] Take the example of using drone swarms for light shows. Figure 1 As shown, a light-emitting device can be mounted on each drone, and the light-emitting device can include one or more light-emitting units (for example, an LED light array). Then, by controlling the positions of each drone in the drone cluster and the light-emitting states of the light-emitting units carried by the drones, the light-emitting units carried by the drone cluster can display various patterns.

[0038] Obviously, when using a mobile platform cluster to display various models, the display effect is particularly important. However, at present, when the light-emitting devices carried by each mobile platform in the mobile platform cluster display models, the display effect is poor, for example, Figure 2 As shown, the displayed model will have problems such as messy lighting, blurred models, and unclear boundaries.

[0039] Although the related technologies are aware of the problem of poor display effects when using mobile platform clusters to display models, they have not found the reasons for the poor display effects. After a lot of research and experiments, the applicant found that the reason for the above-mentioned problems of messy lighting and blurred models is mainly because when displaying the model, both the visible and invisible surfaces of the model's light-emitting units will emit light and the brightness of the light is consistent. Since most of the light-emitting devices currently used emit light in the full-angle range (that is, all light-emitting units on the light-emitting device emit light at the same time or not, so that they emit light within the range of 180° or 360°), this will cause the light emitted by the light-emitting units on other surfaces of any display surface in the model to interfere with the light emitted by the light-emitting units on the display surface, resulting in messy light and unclear model boundaries. Figure 3As shown, assuming that the model to be displayed is a ring, the audience's line of sight is facing the front surface of the ring. Since all the light-emitting units in the light-emitting devices on the front and rear surfaces are emitting light (i.e., emitting light in the full angle range) and the brightness is consistent, at this time, the audience can not only see the light emitted by the light-emitting units on the front surface, but also the light emitted by the light-emitting units on the rear surface toward the front surface will also penetrate through the gaps between the movable platforms to the front surface and enter the audience's line of sight. These lights become stray light, interfering with the display of the front surface.

[0040] Based on this, an embodiment of the present application provides a control method for a movable platform cluster. Considering that when displaying a target model, some visible surfaces on the target model need to be presented to the audience (for example, the main viewing surface), the light-emitting units on the movable platform cluster can be reasonably controlled to make the brightness of these visible surfaces higher, while for other surfaces except the visible surface, the brightness can be lowered, so that the light from other surfaces will not cause excessive interference to the light of the visible surface, thereby reducing the problems of cluttered lighting and unclear model boundaries of the displayed model, and improving the display effect of the target model, such as Figure 4 As shown, it is a rendering of a model displayed by the solution provided by the embodiment of the present application. Compared with the model displayed in the related art (such as Figure 2 The model boundary is clearer and the display effect is better.

[0041] like Figure 5 As shown, it is a schematic diagram of an application scenario of an embodiment of the present application. In the figure, a drone is used as an example of a movable platform. The user can pre-set control data of the movable platform when displaying the target model in the control station. These control data include path information of the movable platform, lighting status information of the light, etc. When displaying the target model, the control station can send control instructions to each movable platform in the mobile platform cluster based on the pre-set control data, so that the movable platform adjusts its position based on the control instruction, and controls the light-emitting unit carried on the movable platform to emit light according to the light-emitting mode indicated by the control instruction, so as to display the target model.

[0042] The control method of the mobile platform cluster provided in the embodiment of the present application can be executed by the mobile platform or by the control station, or some steps can be executed by the mobile platform and some steps can be executed by the control station, which can be flexibly set based on actual needs.

[0043] The movable platform of the embodiment of the present application can be a drone, an unmanned vehicle, an intelligent robot, a water robot, an aerial robot, etc., and each movable platform is equipped with one or more light-emitting devices on a designated part of the fuselage, and each light-emitting device includes one or more light-emitting units. For example, the light-emitting device can be a light board, which includes one or more lamp beads. In some scenarios, the light-emitting device can be an LED light board, which includes an array of multiple LED lights.

[0044] The control station in the embodiment of the present application can be a mobile phone, a computer, or a cloud server, etc.

[0045] like Figure 6 As shown, the control method of the mobile platform cluster may include the following steps:

[0046] S602, obtaining a control instruction, wherein the movable platform cluster includes a plurality of movable platforms, and each movable platform obtains a different control instruction; each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units;

[0047] In step S602, a control instruction may be obtained, wherein the control instruction may be generated based on the target model to be displayed. For example, the user may pre-set the position of each movable platform when displaying different models, and the light-emitting state of the light-emitting unit carried in each movable platform in the control station. Then, the control instruction may be generated based on the target model to be displayed, and the control instruction may include the position information of each movable platform, and the light-emitting state information of the light-emitting unit of each movable platform.

[0048] In some embodiments, the target model can be a picture, a dynamic picture set, or a video clip. The target model can be various pattern models, text models, etc., and the target model can change dynamically over time. The control station disassembles the target model into an array so that the target model can be represented by a dot matrix set. It can be understood that the target model can be displayed at different times using dot matrix sets at different times. tn ,y tn , z tn ), L tn )}, where t represents the time, n represents the number of points in the dot matrix set of the target model, and L represents the luminous state of the points in the target model at that time; for example, a target model can be arrayed as the first dot matrix set at the first time {((x 11 ,y 11 ,z 11 ), L 11 ),((x 12 ,y 12 ,z 12), L 12 ),…((x 1n ,y 1n ,z 1n ), L 1n )}、The second moment point set {((x 21 ,y 21 ,z 21 ), L 21 ),((x 22 ,y 22 ,z 22 ), L 22 ),…((x 2n ,y 2n ,z 2n ), L 2n )}…, and the point set {((x t1 ,y t1 ,z t1 ), L t1 ),((x t2 ,y t2 ,z t2 ), L t2 )…((x tn ,y tn ,z tn ), L tn )}. At this time, the control station can generate movement instructions and luminous state instructions (indicating the luminous state of the point) according to the changes of different points in the dot matrix set at different times. That is, for the first point, the control instruction generated is {((x 11 ,y 11 ,z 11 ), L 11 ),((x 21 ,y 21 ,z 21 ), L 21 ),…((x t1 ,y t1 ,z t1 ), L t1 )}, and the control instruction for the second point is {((x 12 ,y 12 ,z 12 ), L 12 ),((x 22 ,y 22 ,z 22 ), L 22 ),…((x t2 ,y t2 ,z t2 ), L t2 )}, generate control instructions {((x 1n ,y1n ,z 1n ), L 1n ),((x 2n ,y 2n ,z 2n ), L 2n )…,((x tn ,y tn ,z tn ), L tn )}. Different movable platforms are used to execute the aforementioned control instructions and light-emitting states at different points (different points are at different positions at different times, hereinafter referred to as target positions), so that the target model can be presented through multiple movable platforms. Preferably, the target model is a 3D stereoscopic dot matrix model, and more preferably, the target model is a regular 3D stereoscopic dot matrix model. It can be understood that the different acquisition of the control instructions by each of the movable platforms described in the present application refers to different movement instructions for each movable platform, while the light-emitting state instructions may be the same or different. That is, the light-emitting states of the light-emitting devices (or light-emitting units) at different points are the same or different. In other words, the brightness, color, on and off state, etc. of the light-emitting units of the light-emitting devices on different movable platforms may be the same or different, which is specifically determined by the actual shape and complexity of the target model.

[0049] S604, in response to the control instruction, (a) control each of the movable platforms to move to its corresponding target position, and (b) control the lighting state of the light-emitting device carried by each of the movable platforms, so that the light-emitting devices of multiple movable platforms can jointly display a target model; wherein the brightness of a preset visible surface of the target model is higher than the brightness of other surfaces of the target model except the preset visible surface.

[0050] In step S604, after obtaining the control instruction, multiple movable platforms can be controlled to move to their respective corresponding target positions based on the control instruction, and the light-emitting states of the light-emitting units carried by the multiple movable platforms can be controlled to display the target model through the light-emitting units. In order to avoid the problem of messy, blurred and unclear lighting of the displayed target model, a suitable control strategy can be adopted to control the light-emitting state of each light-emitting unit, so that the brightness of the preset visible surface in the target model finally presented is higher than the brightness of other surfaces in the target model except the preset visible surface. For example, the light-emitting units on the preset visible surface can be controlled to emit light, and the light-emitting units on other surfaces can not emit light, or the light-emitting units on the preset visible surface and the light-emitting units on other surfaces can be controlled to emit light, but the light-emitting brightness of the light-emitting units on the preset visible surface is greater than the light-emitting brightness of the light-emitting units on other surfaces, or the light-emitting units can be made to emit light only within a certain angle range, so that the light from other surfaces will not interfere with the light of the preset visible surface, thereby ensuring the display effect of the preset visible surface.

[0051] The preset visible surface may be one or more surfaces of the target model presented to the audience, for example, the main viewing surface of the target model. Other surfaces may be visible surfaces in the target model, for example, visible surfaces that do not need to be shown to the audience, or less important visible surfaces, or invisible surfaces in the target model, for example, the inner surface of the target model, or the outer surface that cannot be seen by the audience.

[0052] In some embodiments, the target model may be a picture, a dynamic picture set, or a video clip. The target model may be various pattern models, text models, etc., and the target model may change dynamically over time. For example, at different times, the movable platform may generate a dynamically changing target model by moving the position and controlling the light-emitting mode of the light-emitting unit.

[0053] In some embodiments, the light-emitting state of the light-emitting device may be one or more of the angular range of light emission of the light-emitting device or the optical extension of the light-emitting device; the light-emitting state of the light-emitting device is related to the light-emitting state of the one or more light-emitting units, wherein the light-emitting state of the light-emitting unit may be one or more of the on-off state of the light-emitting unit, the light-emitting brightness of the light-emitting unit, and the light-emitting color of the light-emitting unit. For example, in some scenarios, the light-emitting state of the light-emitting device is related to the light-emitting state of the one or more light-emitting units, and the light-emitting state of each light-emitting unit in the light-emitting device can be independently controlled, so that the light-emitting device can emit light within a specific angle range by controlling some light-emitting units in the light-emitting device to emit light and some light-emitting units not to emit light. Of course, in some embodiments, in order to achieve more precise control of the light-emitting unit, a light-emitting unit with an adjustable light-emitting angle range can also be used, so that the angle range of light emission of each light-emitting unit can be adjusted in real time based on the model to be displayed, thereby adjusting the angle range of light emission of the light-emitting device as a whole, so that the light-emitting device only emits light within the angle range that the audience can see. For example, based on the theory of non-imaging optics, the optical extension of the light-emitting device is controlled so that the light-emitting aperture and cross-sectional area are within a preset range, thereby realizing the control of the light beam emitted by the light-emitting device. Furthermore, the optical expansion of the light-emitting device can also be controlled with the help of reflective elements. Through this implementation, directional lighting can be achieved on the light-emitting device carried by the movable platform, so that the overall display effect of the target model is more three-dimensional and vivid, greatly improving the user experience.

[0054] In some embodiments, in order to make the control logic and circuit structure of each light-emitting device simpler, the light-emitting units of each light-emitting device can be controlled at the same time. For example, the light-emitting units can be controlled on a light-emitting device basis, and the light-emitting states of the light-emitting units of each light-emitting device are consistent. For example, the light-emitting units on each light-emitting device can be on or off at the same time, and the light brightness, light color, etc. are consistent.

[0055] In some embodiments, the light-emitting state of the light-emitting device is related to the light-emitting state of the one or more light-emitting units. In order to achieve more refined control, the light-emitting state of the light-emitting unit of each light-emitting device can be independently controlled. For example, the light-emitting unit can be controlled in units of light-emitting units, and the on and off state, light brightness, light color, light angle range, etc. of each light-emitting unit can be controlled individually.

[0056] In some embodiments, when a target model is displayed using a mobile platform cluster, the audience seats may be fixed, for example, the audience seats are only set at a certain position of the target model. In this case, the preset visible surface may be the surface of the target model facing the audience seats. For example, the audience seats may be set only on the front surface of the target model, so that the audience mainly sees the front surface of the target model. At this time, it is necessary to ensure that the light on the front surface will not be disturbed by the light on other surfaces (for example, the rear surface) to ensure the display effect of the front surface. Therefore, the brightness of the front surface can be higher than the brightness of other surfaces. For example, as shown in FIG7 (a), assuming that the target model is a ring, the audience seats are facing the front surface of the ring. At this time, the preset visible surface may be the front surface of the ring, so the light-emitting units on the front surface of the ring and the light-emitting units on the rear surface can be controlled to emit light, and the light-emitting brightness of the light-emitting units on the front surface is greater than the light-emitting brightness of the light-emitting units on the rear surface. Of course, as shown in FIG7 (b), the light-emitting units on the front surface of the ring can also be controlled to emit light, and the light-emitting units on the rear surface can not emit light. Therefore, the present application fully considers the interference of the front and rear surfaces in the three-dimensional target model due to the array gap, and is particularly suitable for displaying three-dimensional target graphics, such as complex 3D graphics, 3D videos, 3D movies, and 3D picture collections.

[0057] Among them, the small squares in each figure of the present application represent light-emitting units. The darker the color of the small square, the greater the brightness of the light-emitting unit. It can be understood that a white square indicates that the brightness of the light-emitting unit is 0.

[0058] In some embodiments, when a target model is displayed using a cluster of movable platforms, the audience seats may not be fixed, that is, each position within the 360° range of the target model may be an audience seat. In this case, the preset visible surface is the outer surface of the target model, wherein the outer surface of the target model may be the surface of the target model close to the outside (that is, closer to the audience's line of sight and easier to be seen by the audience). Among them, the light-emitting unit close to the outside of the target model in each light-emitting device is the outer surface of the target model. Since the entire outer surface of the target model can be seen by the audience, at this time, the light brightness of the entire outer surface of the target model can be made higher than the light brightness of the inner surface of the target model, so as to avoid the light of the inner surface interfering with the light of the outer surface and ensure the display effect of the entire outer surface. For example, if Figure 8 As shown, assuming that the target model is a ring, the audience seats are not fixed, that is, they may be located in various directions of the ring. In this case, the preset visible surface can be the entire outer surface of the ring. In some embodiments, for example, the number of light-emitting units on the light-emitting device is m×n, and the positions of all light-emitting units can be expressed as (1, 1), (1, 2)...(1, n); (2, 1), (2, 2),...(2, n); (m, 1), (m, 2),...(m, n). Among them, when (m, 1) is a position close to the center of the ring, (m, 1) can be the inner surface of the target model, and the light-emitting units other than this are the outer surfaces of the target model. In some embodiments, (m, 1),...(mx, 1); (m, 1)...(m, y) and the like can also be set as inner surfaces, and the light-emitting devices other than these can be set as outer surfaces. Specifically, those skilled in the art can set the number of light-emitting units indicated as inner and outer surfaces according to the needs of the target model to be displayed. In some embodiments, the positions and numbers of the light-emitting units of each light-emitting device as the inner and outer surfaces of the target model can be different, so as to adapt to target models of different shapes. The outer surface can be the surface close to the outside of the ring, that is, the surface close to the side of the audience seats. These surfaces can be seen by the audience, so the light-emitting units on these surfaces can be controlled to emit light, while the inner surface (that is, the surface away from the audience) can be controlled not to emit light because the audience cannot see it. For example, Figure 8Take the light-emitting device at the bottom as an example. The light-emitting device is a 3×3 light-emitting unit array, wherein the light-emitting units at (1, 1)(1, 2), (1, 3) are inner surfaces, and the light-emitting units at (2, 1)(2, 2), (2, 3), (3, 1)(3, 2), (3, 3) are outer surfaces. Then, the light-emitting units at positions (1, 1)(1, 2), (1, 3) and the like on the inner surface do not emit light, and the light-emitting units at positions (2, 1)(2, 2), (2, 3), (3, 1)(3, 2) emit light. Of course, the light-emitting units on the inner surface can also be controlled to emit weak light, that is, the light-emitting intensity is less than that of the light-emitting units on the outer surface, so as not to interfere with the display effect of the outer surface. For example, Figure 8 In the embodiment, the light emitting units at positions (1, 1), (1, 2), (1, 3) and the like on the inner surface emit weak light, and the light emitting units at positions (2, 1), (2, 2), (2, 3), (3, 1), (3, 2) have a much greater light intensity than the light emitting units at positions (1, 1), (1, 2), (1, 3) on the inner surface. More preferably, the number of light emitting units on the outer surface of the control target model is more than twice the number of light emitting units on the inner surface. The light emitting intensity of the light emitting units on the outer surface of the optimal control target model is more than five times the light emitting intensity of the light emitting units on the inner surface.

[0059] In some embodiments, when the audience seats are fixed, the number of light-emitting units located on the preset visible surface of the target model is greater than the number of light-emitting units located on other surfaces of the target model. For scenes with fixed audience seats, the preset visible surface is the surface of the target model facing the audience seats. Considering that the audience mainly sees the preset visible surface, when displaying the target model, the display effect of the preset visible surface can be given priority. For example, when planning the positions of each movable platform in the movable platform cluster, the number of movable platforms distributed on the preset visible surface can be increased, and then the number of light-emitting units on the preset visible surface is also increased, and the light-emitting units can be more densely distributed on the preset visible surface, so as to achieve a better display effect. For other surfaces other than the preset visible surface, considering that the audience is unlikely to see them, there is no need to pay too much attention to the display effect of these surfaces. Therefore, for these surfaces, the number of movable platforms distributed on the preset visible surface can be reduced, and then the number of light-emitting units on the preset visible surface is also reduced, and the light-emitting units can be distributed more sparsely on these surfaces.

[0060] like Fig. 9As shown in the figure, assuming that the target model is a ring, the audience seats are facing the front surface of the ring, that is, the preset visible surface is the front surface. At this time, more movable platforms can be distributed on the front surface, that is, the light-emitting units are distributed more densely, and fewer movable platforms can be distributed on the back surface, and the light-emitting units can be distributed more sparsely. In this way, when the number of movable platforms is limited, it is guaranteed that the front surface can achieve a better display effect.

[0061] In the previous technology, when displaying the target model, the number of light-emitting units is set equally for the faces that can be seen and the faces that cannot be seen by the audience, that is, the density of the distribution of the light-emitting units is the same, which results in that when the number of movable platforms is limited, the number of light-emitting units on the faces that can be seen by the audience is also limited, and the distribution is relatively sparse, resulting in a poor final presentation effect. In the embodiment of the present application, when planning the number of light-emitting units on each surface of the target model, differentiated treatment can be performed for the faces that can be seen and the faces that cannot be seen by the audience in the target model, giving priority to ensuring the number of light-emitting units on the faces that can be seen by the audience, so that a better display effect can be achieved when the number of movable platforms is limited.

[0062] In some embodiments, when the audience seats are fixed, considering that the audience can mainly see the preset visible surface, no light-emitting unit may be provided on the surfaces other than the preset visible surface, that is, the movable platforms are evenly distributed on the preset visible surface to maximize the display effect of the preset visible surface. Fig.10 As shown, assuming that the target model is a ring, the audience seats are facing the front surface of the ring, that is, the preset visible surface is the front surface. At this time, the movable platforms can be evenly distributed on the front surface (that is, the light-emitting units are all distributed on the front surface), and no movable platform is set on the rear surface (that is, there is no light-emitting unit on the rear surface).

[0063] In some embodiments, the light-emitting units on the preset visible surface and other surfaces except the preset visible surface can be controlled to be in a light-emitting state, but the light-emitting brightness of the light-emitting units on the preset visible surface is greater than the light-emitting brightness of the light-emitting units on other surfaces. For example, although the light-emitting units on other surfaces also emit light, the light is very weak, so it will not interfere with the light of the preset visible surface. In some embodiments, the light-emitting units on the preset visible surface can also be in a light-emitting state, while the light-emitting units on other surfaces are in a non-light-emitting state. For example, as shown in FIG7(a), the light-emitting units on the front and rear surfaces of the target model can both emit light, but the brightness of the light-emitting units on the front surface is higher than the brightness of the light-emitting units on the rear surface, or, as shown in FIG7(b), only the light-emitting units on the front surface emit light, and the light-emitting units on the rear surface do not emit light.

[0064] When the audience seats are fixed, the luminous brightness of the luminous units of the preset visible surface may be consistent or inconsistent. Fig.11 As shown, in order to obtain a better display effect, the light emitting brightness of the light emitting units located on the preset visible surface can be in a gradual state. For example, the light emitting brightness of the light emitting units directly facing the audience's line of sight in the preset visible surface is the brightest, and the brightness of the light emitting units far from the audience's line of sight can be gradually weakened. Fig.11 The dotted arrow in the figure represents the normal of the outer surface of the target model where the light-emitting unit is located. Specifically, the light-emitting unit in the light-emitting device close to the outer side of the target model is the outer surface of the target model. This will be described in detail below and will not be repeated here.

[0065] In some embodiments, the deviation angles corresponding to the respective light emitting units in the preset visible surface may be predetermined, where Fig.12 As shown in FIG. 1 , the deviation angle corresponding to each light-emitting unit is the angle between the line connecting the light-emitting unit and the viewer's viewpoint and the normal line of the outer surface of the target model where the light-emitting unit is located (such as θ in the figure). The luminous brightness of the light-emitting unit located on the preset visible surface decreases as the deviation angle increases, as shown in FIG. Fig.11 As shown. Usually, when displaying each target model, the position and posture of each movable platform are determined, and when the audience seats are fixed, the position of the audience's viewpoint can also be roughly determined, so the line connecting the audience's viewpoint and the light-emitting unit can also be predetermined. At the same time, since the position of each light-emitting unit in the target model is also determined, the normal of the outer surface of the target model where the light-emitting unit is located (the light-emitting unit in the light-emitting device close to the outside of the target model is the outer surface of the target model) can be determined, and then the angle between the line and the normal can be determined to obtain the deviation angle. In general, the light-emitting unit that is facing the user's line of sight should have a brighter light brightness as much as possible, and the light-emitting unit that is deviated from the user's line of sight should have a weaker brightness as much as possible, thereby avoiding the problems of cluttered light and blurred models.

[0066] In some embodiments, for scenes where the audience seats are not fixed, the light emitting device can be controlled to emit light within a preset angle range, for example, the light emitting device is allowed to emit light in the angle range facing the audience and not in other angle ranges, so as to avoid the light in other angle ranges interfering with the light in the angle range that the audience can see. Figure 8 As shown, the light-emitting units near the outside of the target model can be controlled to emit light, that is, the light-emitting units on the outer surface of the target model can emit light. Since the outer surface of the target model is the side facing the audience, by controlling the light-emitting units of this part (i.e., the side facing the audience) to emit light, the light-emitting device emits light within the angle range facing the audience, and does not emit light in other angle ranges.

[0067] In some implementations, the light-emitting angle range of the light-emitting device is adjustable. The light-emitting state of the light-emitting device is related to the light-emitting state of the one or more light-emitting units. For example, the light-emitting state of each light-emitting unit in the light-emitting device can be independently controlled, so that the light-emitting device can emit light within a specific angle range by controlling some light-emitting units in the light-emitting device to emit light and some light-emitting units not to emit light.

[0068] Of course, a light-emitting unit with an automatically adjustable light-emitting angle range may also be used, so that during the display of the target model, the light-emitting angle range of the light-emitting unit can be determined based on the current position of the light-emitting unit, and the light-emitting unit can be controlled to emit light only within this angle range, so that the light-emitting device emits light within a specific angle range.

[0069] Considering the scenarios with fixed audience seats and those with unfixed audience seats, the specific control methods are different when controlling the light-emitting units carried by the movable platform to emit light. Therefore, two control modes can be pre-set, namely, the control mode with fixed audience seats and the control mode with unfixed audience seats. When controlling the movable platform cluster to display the target model, the target control mode to be currently adopted can be determined from the above two control modes, and then the control instructions can be generated according to the target control mode.

[0070] For example, the control station may determine the target control mode from the two control modes in advance, generate a control instruction based on the target control mode, and then send it to the movable platform.

[0071] Among them, the target control mode can be set by the user, or it can be automatically determined based on the actual scene. For example, in some embodiments, the target control mode can be determined based on one or more of the number of movable platforms in the movable platform cluster, the complexity of the target model, and the communication quality between multiple movable platforms and the control station. For example, when the number of movable platforms is small, the model to be displayed is usually relatively simple, mainly showing a certain face of the model. At this time, a control mode with fixed audience seats can be adopted. In addition, when the target model is more complex, for example, it is a very complex 3D stereo model. At this time, it is highly likely that all surfaces of the model need to be displayed and can be seen by the audience. Therefore, a control mode with unfixed audience seats can be adopted at this time. In addition, when the communication quality between the movable platform and the control station is poor, it is highly likely that the target model is displayed in a place with many buildings, and the number of available movable platforms is also small. The target model to be displayed is also relatively simple, and a control mode with fixed audience seats can be adopted. On the contrary, if the area is relatively open, the communication quality between the movable platform and the control station is good, the number of available movable platforms is large, and the model is more complex, therefore, a control mode with non-fixed audience seats can be adopted.

[0072] In some embodiments, the light-emitting unit on the side away from the preset point of the target model in the light-emitting device carried by the movable platform emits light, wherein the preset point is a point inside the target model. The preset point of the target model is the geometric center point of the target model or the geometric center point of a designated part of the target model. For example, in the case where the target model is a regular model, the preset point can be the geometric center point of the target model, for example, if the target model is a sphere, the center of the sphere is the preset point. In the case where the target model is an irregular model, the preset point can be the geometric center point of the designated part of the target model, for example, taking the target model as a fish, the preset point can be the geometric center point of the fish head part, or the geometric center point of the fish belly part. Specifically, the geometric center point can be divided according to the specific shape of the target model to be performed. The light-emitting unit on the side away from the preset point is the light-emitting unit on the outer surface of the target model, and the part of the light-emitting unit on the side close to the preset point is the light-emitting unit on the inner surface of the target model. For example, in a fish head, with the geometric center of the fish head as the preset point, when a 3×3 light-emitting device is horizontally arranged on the lower side of a fish head pattern for display, the first row is the light-emitting unit on the side close to the preset point, and the remaining two rows are the light-emitting units on the side away from the preset point. Then the first row is the inner surface of the target model, which is controlled not to emit light or to emit only weak light, and the remaining two rows are the outer surfaces of the target model, which are controlled to emit light, and the light intensity is greater than that of the inner surface; for a fish body, with the geometric center of the fish belly as the preset point, when a 5×5 light-emitting device is vertically arranged on the right side of the fish belly pattern for display, the first two columns are the light-emitting units on the side close to the preset point, and the remaining three columns are the light-emitting units on the side away from the preset point. Then the first two columns are the inner surface of the target model, which are controlled not to emit light or to emit only weak light, and the remaining three columns are the outer surface of the target model, which are controlled to emit light, and the light intensity is greater than that of the inner surface.

[0073] In order to realize that the light-emitting state of each light-emitting unit in the light-emitting device can be independently controlled, one way that can be easily thought of is that each light-emitting unit is connected to a controller, so that the controller can send control instructions to each light-emitting unit separately. However, when the number of light-emitting units is large, the circuit structure of the entire light-emitting device will be more complicated. In order to simplify the circuit structure, in some embodiments, such as Fig.13As shown, the light-emitting device may include a control module, a power module, and a plurality of cascaded light-emitting units. The power module may be used to supply power to the plurality of cascaded light-emitting units, and the control module may be used to send a light-emitting state control instruction string to the first light-emitting unit among the plurality of cascaded light-emitting units (it can be understood that the light-emitting state control instruction is related to the control instruction received by the movable platform, specifically, it is related to the light-emitting state instruction in the control instruction received by the movable platform. More specifically, the light-emitting state control instruction is the aforementioned light-emitting state instruction. For example, for a 3×3 light-emitting device, the light-emitting state instruction is to emit light toward the right side, then it is decomposed into the instruction of each light-emitting unit, the light-emitting state instruction received in the first column is coded as 0, and the light-emitting state instruction received in the second and third columns is coded as 1), so as to pass the light-emitting state control instruction string to each light-emitting unit in turn; wherein, after receiving the light-emitting state control instruction string sent by the previous light-emitting unit, each light-emitting unit obtains its own light-emitting state control instruction therefrom, and passes the instruction string consisting of the remaining light-emitting state control instructions to the next light-emitting unit. Wherein, the control module may be a micro processor, MCU, etc. When the control module outputs a control instruction for controlling the light-emitting state of multiple light-emitting units, it can output an instruction string, and the instruction string can be composed of multiple control instructions, each control instruction is used to control the light-emitting state of a light-emitting unit.

[0074] For example, assuming that the luminous state of each light-emitting unit includes the brightness values ​​corresponding to the three colors R, G, and B, the luminous state of each light-emitting unit can be represented by 24-bit data (R, G, and B each occupy 8 bits). Therefore, the 24-bit data can be used as a unit, and the control module can output a control instruction string to the first light-emitting unit. After the first light-emitting unit obtains the first 24-bit data, it emits light based on the luminous state information indicated by the 24-bit data. At the same time, the remaining control instruction string after removing the 24-bit data can be transmitted to the second light-emitting unit. The second light-emitting unit can obtain its own luminous data in a similar processing method and pass the remaining data to the next light-emitting unit. The control instruction string can be transmitted in sequence in the above manner, so that each light-emitting unit can obtain its own luminous state data.

[0075] Considering that if one of the multiple cascaded light-emitting units fails, all the light-emitting units after the light-emitting unit will fail to emit light, which will seriously affect the display effect. In order to avoid the above problems, in some embodiments, such as Fig.14As shown, the Nth light-emitting unit in a plurality of cascaded light-emitting units is connected to the N+1th light-emitting unit through a main circuit, and at the same time, the Nth light-emitting unit can be connected to the N+2th light-emitting unit through an auxiliary circuit. When the N+1th light-emitting unit fails, the N+2th light-emitting unit can obtain a light-emitting state control instruction string from the Nth light-emitting unit through the auxiliary circuit, where N is a positive integer. For example, assuming that the 24-bit data in the above example is taken as a unit, if the N+2th light-emitting unit receives a light-emitting state control instruction string from the N+1th light-emitting unit, the front 8-bit data can be directly obtained as its own light-emitting state information. If the N+2th light-emitting unit receives a light-emitting state control instruction string from the Nth light-emitting unit, the front 8-bit data can be discarded first, and then the front 8-bit data in the remaining data can be obtained as its own light-emitting state data.

[0076] In the above manner, if only one of the cascaded light-emitting units fails, only one light-emitting unit will not light up, which will not affect the overall display effect. Only when two consecutive light-emitting units fail will the subsequent light-emitting units not light up, but the probability of this situation is often low. That is, the reliability of the light-emitting unit can be greatly improved by the method provided in the embodiment of the present application.

[0077] In some embodiments, considering that when a target model is displayed using a movable platform cluster, if a light-emitting unit in the light-emitting device in the movable platform fails, causing the light-emitting unit to not light up, it will inevitably affect the overall display effect. In order to avoid this problem, in some embodiments, the light-emitting device also includes a detection module, which is respectively connected to the control module and a plurality of cascaded light-emitting units, and the detection module is used to detect whether there is an abnormality in the plurality of cascaded light-emitting units when receiving a detection instruction sent by the control module. That is, by setting a detection module in the light-emitting device, before using the movable platform cluster for performance, the detection module can be used to detect each light-emitting unit in the light-emitting device, and if they are all normal, the movable platform cluster can be used for performance. Thereby, the problem of light-emitting unit failure during the performance can be avoided.

[0078] In addition, an embodiment of the present application further provides a control method for a mobile platform cluster, wherein the mobile platform cluster includes a plurality of mobile platforms, each of which is equipped with a light-emitting device, and each of which includes one or more light-emitting units. The method may include the following steps:

[0079] Obtain control instructions, wherein the movable platform cluster includes multiple movable platforms, each of the movable platforms obtains the control instructions differently; each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units; in response to the control instructions, (a) each of the movable platforms is controlled to move to its corresponding target position, and (b) the light-emitting state of the light-emitting device carried by each of the movable platforms is controlled so that the light-emitting devices of the multiple movable platforms can jointly display the target model; wherein the light-emitting units carried by the movable platforms located on both sides of the specified section of the target model are controlled in different ways.

[0080] In order to improve the display effect and avoid the light emitted by the light-emitting units on different sides of the target model from interfering with each other, when controlling the light-emitting units carried by the movable platform to emit light, different control methods can be adopted for the light-emitting units carried by the movable platform on both sides of the designated section of the target model. For example, the on and off states, light brightness, and light angle range of the light-emitting units carried by the two movable platforms can be different, so that the light-emitting states of the light-emitting units on different sides can be adjusted based on the display requirements of different sides of the target model to obtain better display effects. In some embodiments, the designated section is also the aforementioned front and rear surface dividing surface. Specifically, for example, when the auditorium is fixed, the lights on the light board of the drone before the designated section are fully turned on or part of the lamp beads on the light board facing the auditorium (first direction) are in a lit state; while when the auditorium is not fixed, the lamp beads of the drone before the designated section and the drone after the designated section are not in a fully off state; part of the lamp beads on the light board of the drone before the designated section that are parallel to and the same as the first direction are in a lit state, and part of the lamp beads of the drone after the designated section facing the first direction are in an off state. Specifically, the designated section may be set according to the number of auditoriums. For example, if there are two or three auditoriums, two or three different designated sections may be set.

[0081] Further, the specific details of controlling the mobile platform cluster to display the target model can be referred to the description in the above method embodiment, which will not be repeated here.

[0082] In addition, an embodiment of the present application further provides a control method for a mobile platform cluster, wherein the mobile platform cluster includes a plurality of mobile platforms, each of which is equipped with a light-emitting device, and each of which includes one or more light-emitting units. The method may include the following steps:

[0083] Obtain control instructions, wherein the movable platform cluster includes multiple movable platforms, each of the movable platforms obtains the control instructions differently; each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units; in response to the control instructions, (a) each of the movable platforms is controlled to move to its corresponding target position, and (b) the light-emitting state of the light-emitting device carried by each of the movable platforms is controlled so that the light-emitting devices of the multiple movable platforms can jointly display a target model; wherein each light-emitting device emits light within a preset angle range, and the preset angle range is an angle range determined with the normal of the target model surface where each light-emitting device is located as the central axis.

[0084] In order to prevent the light on the inner surface of the target model from penetrating through the gaps between the movable platforms to the outer surface and interfering with the display effect of the outer surface, a light-emitting device with an adjustable light-emitting angle range can be used, and then each light-emitting device can be controlled to emit light within a preset angle range, such as Fig.15 As shown, the preset angle range is an angle range determined by taking the normal line of the outer surface of the target model where each light-emitting device is located as the central axis, that is, the light-emitting device is allowed to emit light within the angle range facing the audience. The specific details of controlling the mobile platform cluster to display the target model can be referred to the description in the above method embodiment, which will not be repeated here.

[0085] Among them, the solutions of the above-mentioned embodiments can be freely combined to obtain new solutions when there is no conflict. Due to space constraints, they will not be listed one by one here.

[0086] In addition, the present application embodiment also provides a mobile platform cluster control device, such as Fig.16 As shown, the device includes a processor 1601, a memory 1602, and a computer program stored in the memory 1602 and executable by the processor 1601. When the processor 1601 executes the computer program, the movable platform control method introduced in the above embodiments is implemented.

[0087] Among them, the specific details of the control device controlling the movable platform cluster to display the target model can be referred to the description in the above method embodiment, which will not be repeated here.

[0088] In addition, the present application embodiment also provides a mobile platform cluster system, such as Figure 5 As shown, the system includes multiple movable platforms (UAVs are taken as examples in the figure) and control stations (mobile phones or computers are taken as examples in the figure), wherein each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units.

[0089] The multiple movable platforms obtain control instructions from the control station, and each movable platform obtains different control instructions, and the control instructions are used to (a) control the multiple movable platforms to move to their respective corresponding target positions, and (b) control the light-emitting states of the light-emitting devices carried by the multiple movable platforms, so that the light-emitting devices of the multiple movable platforms can jointly display a target model; wherein the brightness of a preset visible surface of the target model is higher than the brightness of other surfaces of the target model except the preset visible surface.

[0090] The control station may be a mobile phone, a computer, a cloud server, etc., and the mobile platform may be a drone, an intelligent robot, an unmanned vehicle, etc. The specific details of controlling the mobile platform cluster to display the target model can be referred to the description in the above method embodiment, which will not be repeated here.

[0091] Accordingly, an embodiment of the present specification further provides a computer storage medium, in which a program is stored. When the program is executed by a processor, the method in any of the above embodiments is implemented.

[0092] The embodiments of this specification may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0093] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0094] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0095] The method and device provided in the embodiments of the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A control method for a mobile platform cluster, characterized in that: The method comprises: Obtaining a control instruction, wherein the movable platform cluster includes a plurality of movable platforms, and the control instruction obtained by each movable platform is different; each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units; In response to the control instruction, (a) each of the movable platforms is controlled to move to its corresponding target position, and (b) the lighting state of the light-emitting device carried by each of the movable platforms is controlled so that the light-emitting devices of multiple movable platforms can jointly display a target model; wherein the brightness of a preset visible surface of the target model is higher than the brightness of other surfaces of the target model except the preset visible surface.

2. The method according to claim 1, characterized in that In the case where the audience seats are fixed, the preset visible surface is the surface of the target model facing the audience seats; When the audience seats are not fixed, the preset visible surface is the outer surface of the target model.

3. The method according to claim 1, characterized in that The light-emitting state of the light-emitting device includes at least one of the following: the angular range of light emission of the light-emitting device or the optical extension of the light-emitting device; the light-emitting state of the light-emitting device is related to the light-emitting state of the one or more light-emitting units, wherein the light-emitting state of the light-emitting unit includes at least one of the following: the on and off state of the light-emitting unit, the light-emitting brightness of the light-emitting unit, and the light-emitting color of the light-emitting unit.

4. The method according to claim 1, characterized in that: The target model includes one of the following: a picture, a dynamic picture set or a video clip.

5. The method according to claim 1, characterized in that The lighting state of the lighting device is related to the lighting state of the one or more lighting units, and the lighting state of each lighting unit can be independently controlled.

6. The method according to claim 5, characterized in that The light-emitting state of the light-emitting unit includes the light-emitting brightness of the light-emitting unit. When the audience seats are fixed, the light-emitting brightness of the light-emitting unit located on the preset visible surface is in a gradual state.

7. The method according to claim 6, characterized in that The light emitting brightness of the light emitting unit located on the preset visible surface is in a gradual changing state, including: The luminous brightness of the light-emitting unit located on the preset visible surface decreases as the deviation angle increases, wherein the deviation angle corresponding to each light-emitting unit is the angle between the line connecting the light-emitting unit and the user's viewpoint and the normal of the outer surface of the target model where the light-emitting unit is located.

8. The method according to claim 1, characterized in that When the audience seats are fixed, the number of the light-emitting units located on the preset visible surface is greater than the number of the light-emitting units located on the other surfaces.

9. The method according to claim 1, characterized in that: When the audience seats are fixed, there is no light-emitting unit on the other surface or the brightness of the light-emitting unit on the other surface is 0.

10. The method according to claim 2, characterized in that In the case where the audience seats are not fixed, the light-emitting unit in the light-emitting device close to the outer side of the target model is the outer surface of the target model.

11. The method according to claim 10, characterized in that The light emitting angle of the light emitting device is adjustable.

12. The method according to claim 1, characterized in that The control instruction includes determining a target control mode from preset control modes, and the preset control modes include a control mode with fixed audience seats and a control mode with non-fixed audience seats.

13. The method according to claim 12, wherein the target control mode is determined based on one or more of the following: Based on the number of the plurality of movable platforms, the complexity of the target model, and the communication quality between the plurality of movable platforms and the control station.

14. The method according to claim 1, characterized in that The light emitting device comprises a control module, a power module, and a plurality of cascaded light emitting units; The power supply module is used to supply power to the multiple cascaded light-emitting units; The control module is used to send a light state control instruction string to the first light emitting unit among the plurality of cascaded light emitting units, so as to transmit the light state control instruction string to each light emitting unit in sequence; After receiving the light state control instruction string sent by the previous light emitting unit, each light emitting unit obtains its own light state control instruction therefrom, and transmits the instruction string consisting of the remaining light state control instructions to the next light emitting unit.

15. The method according to claim 14, characterized in that The Nth light-emitting unit of the plurality of cascaded light-emitting units is connected to the N+1th light-emitting unit through a main circuit, and the Nth light-emitting unit is connected to the N+2th light-emitting unit through an auxiliary circuit, and when the N+1th light-emitting unit fails, the N+2th light-emitting unit can obtain a light-emitting state control instruction string from the Nth light-emitting unit through the auxiliary circuit, wherein N is a positive integer; and / or The light-emitting device also includes a detection module, which is connected to the control module and the multiple cascaded light-emitting units respectively, and is used to detect whether there is an abnormality in the multiple cascaded light-emitting units when receiving a detection instruction sent by the control module.

16. The method according to claim 1, characterized in that in, The light-emitting unit on the side of the light-emitting device carried by the movable platform away from the preset point of the target model emits light, wherein the preset point of the target model is the geometric center point of the target model or the geometric center point of a designated part of the target model.

17. A control method for a mobile platform cluster, characterized in that: The method comprises: Obtaining a control instruction, wherein the movable platform cluster includes a plurality of movable platforms, and each movable platform obtains the control instruction differently; each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units; In response to the control instruction, (a) each of the movable platforms is controlled to move to its corresponding target position, and (b) the lighting state of the light-emitting device carried by each of the movable platforms is controlled so that the light-emitting devices of multiple movable platforms can jointly display the target model; wherein the control methods of the light-emitting units carried by the movable platforms located on both sides of the specified section of the target model are different.

18. A control method for a mobile platform cluster, characterized in that: The method comprises: Obtaining a control instruction, wherein the movable platform cluster includes a plurality of movable platforms, and each movable platform obtains the control instruction differently; each movable platform is equipped with a light-emitting device, and each light-emitting device includes one or more light-emitting units; In response to the control instruction, (a) each of the movable platforms is controlled to move to its corresponding target position, and (b) the lighting state of the light-emitting device carried by each of the movable platforms is controlled so that the light-emitting devices of multiple movable platforms can jointly display the target model; wherein each light-emitting device emits light within a preset angle range, and the preset angle range is an angle range determined with the normal of the target model surface where each light-emitting device is located as the central axis.

19. A mobile platform cluster control device, characterized in that: The device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, and the processor implements the method according to any one of claims 1 to 18 when executing the computer program.

20. A mobile platform cluster system, characterized in that: The system includes a plurality of movable platforms and a control station, wherein each movable platform is equipped with a light emitting device, and each light emitting device includes one or more light emitting units; The multiple movable platforms obtain control instructions from the control station, and each movable platform obtains different control instructions, and the control instructions are used to (a) control the multiple movable platforms to move to their respective corresponding target positions, and (b) control the light-emitting states of the light-emitting devices carried by the multiple movable platforms, so that the light-emitting devices of the multiple movable platforms can jointly display a target model; wherein the brightness of a preset visible surface of the target model is higher than the brightness of other surfaces of the target model except the preset visible surface.

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