Device and method for tracking three-dimensional motion state of light projection based on ultra-wideband technology

Abstract

The present invention relates to the technical field of lighting control, and in particular to a device and method for tracking the three-dimensional motion state of lighting projection based on ultra-wideband technology, which includes at least three base stations, a signal tag, and a terminal lighting projection tracking data transmitter. The base station receives and feeds back UWB signals through a rubber stick antenna; the signal tag calculates the distance between the base station and the tag by using TWR, TOA and TDOA algorithms in conjunction with a UWB module and a nine-axis gyroscope, and uses a geometric algorithm to mark the three-dimensional spatial position of the tag, while fusing multiple sensor data through a data fusion processing module to reduce errors caused by ground environmental factors; the terminal lighting projection tracking data transmitter converts the coordinate data sent by the tag into DMX512 instructions or other protocol instruction content, and operates other devices through a 512 protocol interface or network port to achieve dynamic lighting and projection effects.

Description

Technical Field

[0001] The invention relates to the technical field of lighting control, and in particular to a lighting projection three-dimensional motion state tracking device based on ultra-wideband technology. Background Art

[0002] At present, there are many positioning technologies on the market in the fields of three-dimensional positioning, direction perception and image control interaction, especially for tracking motion status in entertainment, performances or exhibitions. For example, Bluetooth and WiFi positioning, GPS positioning, etc., these technologies have been widely used in different scenarios. However, the accuracy of most traditional positioning technologies is generally low, and it is difficult to achieve high accuracy requirements at the centimeter level, especially in complex indoor environments.

[0003] In order to achieve accurate motion state tracking and light projection control, the existing technology adopts a variety of means. Common methods include manual control using a mouse, keyboard or joystick, which requires the operator to monitor the target object in real time and manually adjust the light and projection content. Another commonly used method is to preset control points and achieve automatic control by correcting the data in advance. In addition, there are also cameras for human body capture or switch-triggered ground designs to capture position information. The camera method usually requires dual cameras for distance recognition, and multiple camera points are required to determine the position, which increases the complexity of the system. The switch-triggered ground design requires a huge amount of engineering, and there may be problems with inaccurate recognition in the case of multiple people.

[0004] Bluetooth, WiFi and GPS positioning technologies are mainly used for rough positioning outdoors or over a large area. Even with advanced Bluetooth TOA / AOA technology, it is difficult to achieve high-precision positioning in complex indoor environments, and the design and installation of antenna arrays require high standards. Although the camera's AI human recognition technology can provide high accuracy, it is easily affected by occlusion and other interference in actual applications, and requires a lot of computing resources. Although the switch-triggered ground design can achieve precise positioning, it has the problems of difficult construction and high cost in large-scale applications. These problems limit the application of existing technologies in high-performance, high-precision motion state tracking and light projection control, so there is room for improvement. Summary of the invention

[0005] In order to send real-time device data changes through changes in module direction and user movement during cultural and tourism interactions, entertainment, performances or exhibition activities, so that lights and projection content can track users and change content, the present application provides a three-dimensional motion state tracking device and method for light projection based on ultra-wideband technology.

[0006] The above-mentioned invention objective of the present application is achieved through the following technical solutions: A three-dimensional motion state tracking device for light projection based on ultra-wideband technology includes a base station, a tag module and a light projection tracking data transmitter. The base station is communicatively connected to the tag module. The base station includes an antenna. The base station is used to receive a positioning signal output by the tag module through the antenna, and feed back data formed after the positioning signal is processed by the base station to the tag module. The tag module includes a positioning data processing unit, and the positioning data processing unit is used to generate a positioning signal. The tag module is also communicatively connected to the light projection tracking data transmitter. The tag module sends the data transmitted by the base station to the light projection tracking data transmitter. The output end of the light projection tracking data transmitter is communicatively connected to a physical server. The light projection tracking data transmitter is used to convert the data output by the tag module into a control instruction and send it to the physical server. The physical server is used to control the interactive projection or perform data modification and adjustment control.

[0007] By adopting the above technical solution, the base station can receive the positioning signal from the tag module through the antenna and feed back the processed data to the tag module, so as to ensure the stability and accuracy of data transmission. A positioning data processing unit is arranged in the tag module. Through the positioning data processing unit, the distance between the base station and the tag can be accurately calculated by using an algorithm, and the three-dimensional spatial position of the tag can be marked by a geometric algorithm. The tag module sends the positioning signal to the base station, and the base station feeds back the data formed after processing the positioning signal to the tag module. The tag module sends the data fed back by the base station to the light projection tracking data transmitter. After the light projection tracking data transmitter receives the data, it converts it into the corresponding control instruction and sends it to the physical server. The physical server will control the lighting device and projection content on site in real time according to the control instruction, so as to realize the intelligent tracking and dynamic change of the light and projection content.

[0008] Preferably, a first main control unit is provided in the tag module, the positioning data processing unit includes a UWB module and a nine-axis gyroscope, the UWB module includes a chip U12, the chip U12 includes a UWB data transceiver port, the UWB data transceiver port of the chip U12 is coupled to the first main control unit, the nine-axis gyroscope includes a chip U15, the chip U15 includes a motion data transceiver port, and the motion data transceiver port of the chip U15 is coupled to the first main control unit.

[0009] By adopting the above technical solution, the first main control unit in the tag module can efficiently process and integrate data from the UWB module and the nine-axis gyroscope. The UWB module is coupled to the first main control unit through the UWB data transceiver port of the chip U12, realizing the transmission and processing of high-precision three-dimensional spatial positioning data. The nine-axis gyroscope is coupled to the first main control unit through the motion data transceiver port of the chip U15, providing detailed motion state data, including acceleration, angular velocity and magnetic field information. The fusion processing of these data improves the robustness of the system, reduces the errors caused by ground environmental factors, and ensures accurate three-dimensional motion state tracking. Finally, the tag module sends the processed data to the terminal light projection tracking data transmitter to achieve real-time dynamic control of the light and projection content.

[0010] Preferably, the tag module also includes an environmental data acquisition unit and a data fusion processing module, the environmental data acquisition unit includes an air pressure sensor circuit, a temperature sensor circuit and a magnetometer circuit, the environmental data acquisition unit is used to acquire environmental data in real time, and the data fusion processing module is used to fuse the environmental data output by the environmental data acquisition unit and the positioning data output by the positioning data processing unit to reduce the error caused by ground environmental factors to the positioning data of the tag.

[0011] By adopting the above technical solution, environmental data, including air pressure, temperature and geomagnetic information, are obtained in real time. These data are combined with the positioning data output by the positioning data processing unit through the data fusion processing module, effectively reducing the impact of ground environmental factors on the tag positioning data and improving the accuracy and stability of positioning. Specifically, the data of the air pressure sensor and temperature sensor can correct the positioning deviation caused by environmental changes, while the data of the geomagnetometer can help correct the direction error caused by magnetic field interference, thereby ensuring that the tag module can still provide high-precision three-dimensional spatial positioning in complex environments.

[0012] Preferably, the shell of the tag module is provided with a ventilation hole design, and the ventilation hole is located below the air pressure module and is used for identification and judgment of the air pressure module.

[0013] Through the above technical solution, the shell of the tag module is provided with a ventilation hole design, and the ventilation hole is located below the air pressure module, so that the air pressure module can accurately identify the external air pressure changes, thereby reducing the data error caused by the air pressure change and improving the accuracy of three-dimensional space positioning.

[0014] Preferably, the tag module also includes a function button, a switch button, a battery power indicator light window and a Type-C female port, the Type-C female port is used for charging and data reading, the switch button is used to switch the power on and off, the shell of the tag module is made of thin plastic, a lithium battery and an antenna are provided inside, a switch button is provided next to it for switching the power on and off and a built-in battery power indicator light window, and three function buttons are provided in the middle of the device itself, which are used to set whether the device is worn by a person or an object, or to set the switch of the remote moving head light or the change of the interactive projection according to needs.

[0015] By adopting the above technical solution, the tag module has multiple function buttons and switch buttons, which enhances the user's interactive experience. Specifically, the switch button is not only used to switch the power on and off, but also displays the battery power, so that users can understand the working status of the device at any time. The three function buttons allow users to set different functions according to actual needs, such as distinguishing whether the object wearing the device is a person or an object, or controlling the switch of the remote moving head light and the changes of the interactive projection, which improves the flexibility and adaptability of the device. The design of the Type-C female port supports fast charging and convenient data reading, further enhancing the user experience.

[0016] Preferably, the light projection tracking data transmitter includes a USB communication interface, a 5V power supply interface, a DMX512 protocol interface and a network port. The light projection tracking data transmitter converts the coordinate switch data sent by the tag into DMX512 instructions or other protocol instruction content for control, and operates other devices through the 512 protocol interface or network port. The light projection tracking data transmitter communicates with the physical host through the USB communication interface to control the interactive projection or perform data modification and adjustment control. The light projection tracking data transmitter sends the tag's position data to the physical server through the physical server connection interface, and the physical server receives the position information instruction and outputs the projection transformation content.

[0017] By adopting the above technical solution, the multifunctional integration of the light projection tracking data transmitter is realized. It can not only communicate with the physical host through the USB communication interface to realize the content control and data modification and adjustment of the interactive projection, but also accurately control various lighting equipment through the DMX512 protocol interface or network port, thereby improving the flexibility and adaptability of the system. In addition, the location data of the tag is sent through the physical server connection interface, so that the physical server can receive the location information instruction and output the corresponding projection transformation content, thereby realizing real-time dynamic lighting and projection effects, and enhancing the user experience and interactivity.

[0018] Preferably, the number of the base stations is no less than three, which are used to construct basic coordinate marking points. The main external structure of the base station is composed of a fuselage, a switch, a base station sequence selection, an integrated external power network port, a rubber stick antenna and a Type-C data port. A UWB module is provided inside, which is mainly responsible for transmitting the data output by the tag module and returning the information of the received positioning signal data.

[0019] By adopting the above technical solution, the number of base stations is not less than three, ensuring that the basic coordinate marking points can be constructed, thereby realizing accurate three-dimensional spatial positioning of the tag module. The main external structure of the base station is reasonably designed, which is easy to install and maintain. At the same time, the built-in UWB module can efficiently receive and feedback the data of the tag module, ensuring the stability and reliability of data transmission. This design not only improves the positioning accuracy of the system, but also enhances the robustness of the system, and is suitable for applications in various complex environments.

[0020] The second object of the invention is achieved by the following technical solutions: A method for tracking the three-dimensional motion state of light projection based on ultra-wideband technology, the method comprising the steps of: The basic coordinate marking points are built based on the base station, the UWB signal from the tag module is received through the base station's rubber stick antenna, and the processed data is fed back to the tag module through the same antenna; The tag module uses the preset algorithm to calculate the distance between the base station and the tag through the UWB module and the nine-axis gyroscope, and uses the geometric algorithm to mark the three-dimensional spatial position of the tag to obtain positioning data; The tag module obtains the current environment data through the environment data acquisition unit, and fuses and locates the data through the data fusion processing module; The tag module sends the fused data to the light projection tracking data transmitter, which converts the fused data sent by the tag module into DMX512 instructions or other protocol instructions for control, and operates other devices through the 512 protocol interface or network port. The light projection tracking data transmitter sends the tag's location data to the physical server through the physical server connection interface, and the physical server receives the location information instruction and outputs the projection transformation content.

[0021] By adopting the above technical solution, high-precision three-dimensional spatial motion state tracking is achieved. Through at least three base stations, each base station is equipped with a POE power supply module, a UWB module, a second main control unit and a rubber stick antenna. These base stations receive the UWB signal from the tag module through the rubber stick antenna, and feed back the processed data to the tag module through the same antenna. The number of base stations is not less than three, which are used to build basic coordinate marking points to ensure that a stable triangulated positioning network can be formed, thereby improving the stability and accuracy of positioning. The tag module uses a preset algorithm in combination with the UWB module and the nine-axis gyroscope to calculate the distance between the base station and the tag, and uses a geometric algorithm to mark the three-dimensional spatial position of the tag to obtain positioning data, which not only improves the positioning accuracy, but also can update the three-dimensional coordinates of the tag in real time to ensure the continuity and real-time nature of tracking. The tag module obtains current environmental data through the built-in air pressure sensor, temperature sensor, magnetometer and nine-axis gyroscope. These data include Air pressure changes, temperature fluctuations, magnetic field interference, etc. are fused through the data fusion processing module to further reduce the errors caused by ground environmental factors and improve the accuracy of positioning data. The tag module sends the fused data to the light projection tracking data transmitter, converts the received fused data into DMX512 instructions or other protocol instructions for control, and operates other devices through the 512 protocol interface or network port, so that the lighting and projection equipment can be adjusted in real time according to the movement of the tag to achieve dynamic lighting and projection effects. At the same time, the light projection tracking data transmitter sends the tag's location data to the physical server through the physical server connection interface. The physical server receives the location information instruction and outputs the projection transformation content, which further enhances the interactivity and flexibility of the system, and can achieve high-precision three-dimensional spatial motion state tracking in complex environments, effectively improving the interactive experience of lighting and projection content, and is suitable for various entertainment, performances and exhibition activities.

[0022] In a preferred example, the present application can be further configured as follows: the construction of basic coordinate marker points based on the base station specifically includes: The number of the base stations is no less than three, which are used to construct basic coordinate marking points to ensure that the three-dimensional spatial position of the tag can be accurately located.

[0023] By adopting the above technical solution, the number of base stations is no less than three, and a stable coordinate system can be constructed in the three-dimensional space to ensure that the three-dimensional spatial position of the tag module is accurately located, which solves the problem of insufficient positioning accuracy in the prior art and improves the reliability and stability of the system, especially in complex environments. Through the collaboration between base stations, high-precision positioning of the tag module can be achieved, thereby supporting more accurate dynamic changes in lighting and projection content.

[0024] In a preferred example, the present application can be further configured as follows: the tag module calculates the distance between the base station and the tag by using a preset algorithm in combination with the UWB module and the nine-axis gyroscope, and uses a geometric algorithm to mark the three-dimensional spatial position of the tag to obtain positioning data, specifically including: The tag module calculates the distance between the base station and the tag by using the TWR, TOA and TDOA algorithms in conjunction with the UWB module and the nine-axis gyroscope, and uses a geometric algorithm to mark the three-dimensional spatial position of the tag to ensure accurate positioning data.

[0025] By adopting the above technical solutions, high-precision three-dimensional spatial positioning is achieved. Specifically, the combined use of UWB modules and nine-axis gyroscopes calculates the distance between the base station and the tag through TWR, TOA and TDOA algorithms, and uses geometric algorithms to mark the three-dimensional spatial position of the tag, ensuring the accuracy of the positioning data. This high-precision positioning capability enables the lighting and projection content to change in real time according to the user's movement, improving the user experience and interactive effect.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. The base station can receive the positioning signal from the tag module through the antenna and feed back the processed data to the tag module, thereby ensuring the stability and accuracy of data transmission. The tag module is provided with a positioning data processing unit. Through the positioning data processing unit, the distance between the base station and the tag can be accurately calculated by using an algorithm, and the three-dimensional spatial position of the tag can be marked by a geometric algorithm. The tag module sends the positioning signal to the base station, and the base station feeds back the data formed after processing the positioning signal to the tag module. The tag module sends the data fed back by the base station to the light projection tracking data transmitter. After receiving the data, the light projection tracking data transmitter converts it into the corresponding control instruction and sends it to the physical server. The physical server will control the lighting device and projection content on site in real time according to the control instruction, realizing the intelligent tracking and dynamic change of the light and projection content; 2. The first main control unit in the tag module can efficiently process and integrate data from the UWB module and the nine-axis gyroscope. The UWB module is coupled to the first main control unit through the UWB data transceiver port of chip U12, realizing the transmission and processing of high-precision three-dimensional spatial positioning data. The nine-axis gyroscope is coupled to the first main control unit through the motion data transceiver port of chip U15, providing detailed motion state data, including acceleration, angular velocity and magnetic field information. The fusion processing of these data improves the robustness of the system, reduces the errors caused by ground environmental factors, and ensures accurate three-dimensional motion state tracking. Finally, the tag module sends the processed data to the terminal light projection tracking data transmitter to achieve real-time dynamic control of lighting and projection content; 3. Real-time acquisition of environmental data, including air pressure, temperature and geomagnetic information. These data are combined with the positioning data output by the positioning data processing unit through the data fusion processing module, effectively reducing the impact of ground environmental factors on the tag positioning data and improving the accuracy and stability of positioning. Specifically, the data of the air pressure sensor and temperature sensor can correct the positioning deviation caused by environmental changes, while the data of the geomagnetometer can help correct the direction error caused by magnetic field interference, thereby ensuring that the tag module can still provide high-precision three-dimensional spatial positioning in complex environments; 4. The shell of the tag module is designed with ventilation holes, which are located below the air pressure module, so that the air pressure module can accurately identify changes in external air pressure, thereby reducing data errors caused by air pressure changes and improving the accuracy of three-dimensional spatial positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a structural module diagram of a light projection three-dimensional motion state tracking device based on ultra-wideband technology in one embodiment of the present application; Figure 2 This is a structural diagram of a base station of a light projection three-dimensional motion state tracking device based on ultra-wideband technology in one embodiment of the present application; Figure 3 This is a circuit diagram of a base station of a light projection three-dimensional motion state tracking device based on ultra-wideband technology in one embodiment of the present application; Figure 4 This is a structural diagram of a tag module of a light projection three-dimensional motion state tracking device based on ultra-wideband technology in one embodiment of the present application; Figure 5 It is a rear view of a tag module of a light projection three-dimensional motion state tracking device based on ultra-wideband technology in one embodiment of the present application; Figure 6 This is a circuit diagram of a tag module of a light projection three-dimensional motion state tracking device based on ultra-wideband technology in one embodiment of the present application; Figure 7 It is a structural diagram of a light projection tracking data transmitter of a light projection three-dimensional motion state tracking device based on ultra-wideband technology in one embodiment of the present application; Figure 8 It is a circuit diagram of a light projection tracking data transmitter of a light projection three-dimensional motion state tracking device based on ultra-wideband technology in one embodiment of the present application; Fig. 9 It is a flow chart of a method for tracking three-dimensional motion state of light projection based on ultra-wideband technology in one embodiment of the present application.

[0028] Description of the drawings: 1. Base station; 11. Rubber stick antenna; 12. Base station module power switch button; 13. Buttons for various mode settings on the base station module; 14. Type-C power supply and data interface; 15. Poe network port power supply and communication integrated interface; 2. Tag module; 21. Tag module switch button; 22. Function button; 23. Battery power indicator window; 24. Type-C female port; 25. Ventilation hole; 3. Light projection tracking data transmitter; 31. USB data port; 32. 5V power interface; 33. DMX512 protocol interface; 34. Network port. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-9 This application is described in further detail.

[0030] The inventor of this application has found that in the prior art, many positioning technologies such as Bluetooth, WiFi, GPS positioning, etc., have positioning accuracy of less than centimeters, especially for indoor positioning. Most of them use UWB and Bluetooth-based TOA / AOA technology, but due to the imperfect ecosystem, the market penetration rate is relatively low, and the interoperability and standardization between devices are not high. In addition, the existing lighting and projection content control mostly adopts manual control or preset control points, which cannot achieve real-time automatic tracking.

[0031] In one embodiment, if Figure 1 As shown, the present application discloses a light projection three-dimensional motion state tracking device based on ultra-wideband technology, including a base station 1, a tag module 2 and a light projection tracking data transmitter 3, wherein the number of base stations 1 is mainly determined by the environment and is at least not less than three, which are used to construct basic coordinate marking points.

[0032] Reference Figure 2 The main external structure of the base station 1 is composed of a fuselage, a switch, a base station 1 sequence selection, an external power supply network port 34, a rubber stick antenna 11 and a Type-C data port. The built-in UWB module is mainly responsible for transmitting the tag data back and returning the information that the module receives the tag module 2 data.

[0033] Specifically, the body of the base station 1 can be made of metal material to increase its firmness and heat dissipation performance. The rubber stick antenna 11 can use a high-gain antenna to enhance the signal transmission distance and stability. The POE power supply module of the base station 1 can support the PoE+ power supply standard to meet higher power requirements. The integrated design of the external power network port 34 of the base station 1 can simplify wiring and reduce installation complexity. The base station 1 sequence selection of the base station 1 can be selected through a dip switch or an LCD display, which is convenient for users to quickly configure.

[0034] The circuit diagram inside base station 1 is as follows: Figure 3As shown, specifically, the network port 34 communication and POE power receiving end are isolated by the network port 34 transformer to isolate the communication data and the POE power. The POE power utilizes the idle data line pin line of the network port 34 to transmit the power voltage, reducing the wiring requirements. The POE power is converted into a 5V power supply, and the POE power supply and the 5V power supply end are isolated at the same time. At the same time, the 5V power supply end is converted into a 3.3V power supply, and a power switch is provided.

[0035] like Figure 4-6 As shown, the tag module 2 is provided with a first main control unit, and the tag module 2 includes a positioning data processing unit, an environmental data acquisition unit and a data fusion processing module. The positioning data processing unit includes a UWB module and a nine-axis gyroscope, and the environmental data acquisition unit includes an air pressure sensor circuit, a temperature sensor circuit and a geomagnetometer circuit. The specific circuit is as follows Figure 6 As shown, the UWB module includes a chip U12, and the chip U12 includes a UWB data transceiver port. The UWB data transceiver port of the chip U12 is coupled to the first main control unit. The nine-axis gyroscope includes a chip U15, and the chip U15 includes a motion data transceiver port. The motion data transceiver port of the chip U15 is coupled to the first main control unit. The environmental data acquisition unit is used to acquire environmental data in real time. The data fusion processing module is used to fuse the environmental data output by the environmental data acquisition unit and the positioning data output by the positioning data processing unit, and is used to process the data of the first main control unit, the barometer circuit, the magnetometer circuit, and the temperature sensing circuit, and send the processed data to the main control chip for data calculation and output control.

[0036] The exterior of the tag module 2 is composed of a thin plastic body, and also includes a tag module 2 switch button, a battery power indicator window 23, three function buttons 22 and a Type-C female port 24. It has a built-in lithium battery and antenna, and a switch button for switching the power supply and a built-in battery power indicator window 23. There are three function buttons 22 in the middle of the device itself, which are used to set whether the person or object is wearing the device, or to set the switch of the remote moving head light or the change of the interactive projection according to needs. The shell itself is provided with a ventilation hole 25 design to facilitate the identification and judgment of the internal air pressure module under the ventilation hole 25. The tag is provided with a Type-C female port 24 for charging and data reading.

[0037] like Figure 7-8As shown, the external interfaces of the light projection tracking data transmitter 3 are mainly a USB communication interface, a 5V power supply interface 32, and two output interfaces for terminal devices (both can be 512 protocol interfaces or one 512 protocol interface and one network port 34). It is mainly responsible for converting the coordinate switch data sent by the tag into DMX512 instructions or other protocol instructions for the moving head light for control, and operating other devices through the 512 protocol interface or the network port 34 (such as sending TCP, UDP, ArtNet and OSC protocol instructions). The USB communication interface is responsible for communicating with the physical host to control the interactive projection or perform data modification and adjustment control. The transmitter can be bound to a specified tag to continuously locate the specified tag, and can also receive remote control instructions from the tag to switch the light source or brightness, and can also control the interactive projection.

[0038] Specifically, the USB communication interface of the light projection tracking data transmitter 3 can adopt the USB3.0 standard, which has fast transmission speed and strong compatibility. The 5V power interface 32 can adopt a micro USB interface, which is convenient for portable charging. The two output interfaces for terminal devices can adopt RJ45 interfaces to support network communication. The DMX512 protocol interface 33 can adopt a 5-pin XLR interface to support professional lighting equipment. The network port 34 can support 100M Ethernet communication. The physical server connection interface can adopt an HDMI interface to support high-definition video transmission. The physical server can adopt a high-performance industrial computer equipped with a high-performance processor and large-capacity storage to ensure the efficiency of data processing and transmission.

[0039] The implementation principle of the light projection three-dimensional motion state tracking device based on ultra-wideband technology in the embodiment of the present application is: Through the collaborative work of the base station 1 and the tag module 2, high-precision three-dimensional spatial positioning is achieved. The base station 1 receives the UWB signal of the tag module 2 through the rubber stick antenna 11, and feeds back the processed data to the tag module 2 through the same antenna. The tag module 2 uses the TWR, TOA and TDOA algorithms to calculate the distance between the base station 1 and the tag through the UWB module and the nine-axis gyroscope, and uses the geometric algorithm to mark the three-dimensional spatial position of the tag. The tag module 2 fuses the data of the nine-axis gyroscope, the geomagnetometer, the air pressure sensor and the temperature sensor through the data fusion processing module to reduce the error caused by the ground environmental factors and improve the accuracy of the data. The tag module 2 sends the data to the light projection tracking data transmitter 3, and the light projection tracking data transmitter 3 converts the coordinate switch data sent by the tag into DMX512 instructions or other protocol instructions for control, and operates other devices through the 512 protocol interface or the network port 34, so as to achieve dynamic lighting and projection effects. This embodiment solves the problems of low positioning accuracy and poor adaptability to complex environments in the prior art, and significantly improves the user experience and system reliability.

[0040] In one embodiment, if Fig. 9 As shown, the present application discloses a method for tracking the three-dimensional motion state of light projection based on ultra-wideband technology, which specifically includes the following steps: S10: construct basic coordinate marking points based on the base station 1, receive the UWB signal from the tag module 2 through the rubber stick antenna 11 of the base station 1, and feed back the processed data to the tag module 2 through the same antenna.

[0041] Specifically, the base station 1 receives the UWB signal from the tag module 2 through the rubber stick antenna 11, and feeds back the processed data to the tag module 2 through the same antenna.

[0042] Furthermore, the number of base stations 1 is no less than three, which can build a stable coordinate system in three-dimensional space, ensuring that the three-dimensional spatial position of the tag module 2 is accurately located, solving the problem of insufficient positioning accuracy in the prior art, and improving the reliability and stability of the system, especially in complex environments. Through the collaboration between the base stations 1, high-precision positioning of the tag module 2 can be achieved, thereby supporting more accurate dynamic changes in lighting and projection content.

[0043] S20: The tag module 2 calculates the distance between the base station 1 and the tag by using a preset algorithm in combination with the UWB module and the nine-axis gyroscope, and marks the three-dimensional spatial position of the tag by using a geometric algorithm to obtain positioning data.

[0044] Specifically, the tag module 2 calculates the distance between the base station 1 and the tag by using the TWR, TOA and TDOA algorithms in combination with the UWB module and the nine-axis gyroscope, and uses the geometric algorithm to mark the three-dimensional spatial position of the tag to obtain positioning data, which not only improves the positioning accuracy, but also can update the three-dimensional coordinates of the tag in real time, ensuring the continuity and real-time nature of tracking.

[0045] S30: The tag module 2 obtains the current environment data through the environment data acquisition unit, and fuses and locates the data through the data fusion processing module.

[0046] Specifically, the current environmental data is obtained through the built-in pressure sensor, temperature sensor, magnetometer and nine-axis gyroscope. These data include air pressure changes, temperature fluctuations and magnetic field interference. These data are fused through the data fusion processing module to further reduce the errors caused by ground environmental factors and improve the accuracy of positioning data.

[0047] S40: The tag module 2 sends the fused data to the light projection tracking data transmitter 3, and the light projection tracking data transmitter 3 converts the fused data sent by the tag module 2 into DMX512 instructions or other protocol instructions for control, and operates other devices through the 512 protocol interface or network port 34. The light projection tracking data transmitter 3 sends the location data of the tag to the physical server through the physical server connection interface, and the physical server receives the location information instruction and outputs the projection transformation content.

[0048] Specifically, the tag module 2 sends the fused data to the light projection tracking data transmitter 3, converts the received fused data into DMX512 instructions or other protocol instructions for control, and operates other devices through the 512 protocol interface or network port 34, so that the lights and projection equipment can be adjusted in real time according to the movement of the tag to achieve dynamic lighting and projection effects. At the same time, the light projection tracking data transmitter 3 sends the location data of the tag to the physical server through the physical server connection interface. The physical server receives the location information instruction and outputs the projection transformation content, further enhancing the interactivity and flexibility of the system.

[0049] In this embodiment, high-precision three-dimensional spatial motion state tracking is achieved through at least three base stations 1, each base station 1 is equipped with a POE power supply module, a UWB module, a second main control unit and a rubber stick antenna 11. These base stations 1 receive UWB signals from the tag module 2 through the rubber stick antenna 11, and feed back processed data to the tag module 2 through the same antenna. The number of base stations 1 is not less than three, which are used to build basic coordinate marking points to ensure that a stable triangulated positioning network can be formed, thereby improving the stability and accuracy of positioning. The tag module 2 uses a preset algorithm in combination with the UWB module and the nine-axis gyroscope to calculate the distance between the base station 1 and the tag, and uses a geometric algorithm to mark the three-dimensional spatial position of the tag to obtain positioning data, which not only improves the positioning accuracy, but also can update the three-dimensional coordinates of the tag in real time to ensure the continuity and real-time nature of tracking. The tag module 2 obtains current environmental data through a built-in air pressure sensor, temperature sensor, magnetometer and nine-axis gyroscope. These data Including air pressure changes, temperature fluctuations and magnetic field interference, etc., these data are fused through the data fusion processing module to further reduce the errors caused by ground environmental factors and improve the accuracy of positioning data. The tag module 2 sends the fused data to the light projection tracking data transmitter 3, and converts the received fused data into DMX512 instructions or other protocol instructions for control. Other devices are operated through the 512 protocol interface or network port 34, so that the lights and projection equipment can be adjusted in real time according to the movement of the tag to achieve dynamic lighting and projection effects. At the same time, the light projection tracking data transmitter 3 sends the location data of the tag to the physical server through the physical server connection interface. The physical server receives the location information instruction and outputs the projection transformation content, which further enhances the interactivity and flexibility of the system, and can achieve high-precision three-dimensional spatial motion state tracking in complex environments, effectively improving the interactive experience of lighting and projection content, and is suitable for various entertainment, performances and exhibition activities.

[0050] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A light projection three-dimensional motion state tracking device based on ultra-wideband technology, characterized in that: The invention comprises a base station (1), a tag module (2) and a light projection tracking data transmitter (3), wherein the base station (1) is communicatively connected with the tag module (2), the base station (1) comprises an antenna, the base station (1) is used to receive a positioning signal output by the tag module (2) through the antenna, and feed back data formed after the positioning signal is processed by the base station (1) to the tag module (2), the tag module (2) comprises a positioning data processing unit, the positioning data processing unit is used to generate a positioning signal, the tag module (2) is also communicatively connected with the light projection tracking data transmitter (3), the tag module (2) sends the data transmitted by the base station (1) to the light projection tracking data transmitter (3), the output end of the light projection tracking data transmitter (3) is communicatively connected with a physical server, the light projection tracking data transmitter (3) is used to convert the data output by the tag module (2) into a control instruction, and send it to the physical server, the physical server is used to control the interactive projection or perform data modification and adjustment control.

2. The device for tracking the three-dimensional motion state of light projection based on ultra-wideband technology according to claim 1, characterized in that: The tag module (2) is provided with a first main control unit, the positioning data processing unit includes a UWB module and a nine-axis gyroscope, the UWB module includes a chip U12, the chip U12 includes a UWB data transceiver port, the UWB data transceiver port of the chip U12 is coupled to the first main control unit, the nine-axis gyroscope includes a chip U15, the chip U15 includes a motion data transceiver port, the motion data transceiver port of the chip U15 is coupled to the first main control unit.

3. The device for tracking the three-dimensional motion state of light projection based on ultra-wideband technology according to claim 2 is characterized in that: The tag module (2) also includes an environmental data acquisition unit and a data fusion processing module. The environmental data acquisition unit includes an air pressure sensor circuit, a temperature sensor circuit and a geomagnetometer circuit. The environmental data acquisition unit is used to acquire environmental data in real time. The data fusion processing module is used to fuse the environmental data output by the environmental data acquisition unit and the positioning data output by the positioning data processing unit, so as to reduce the error caused by ground environmental factors to the positioning data of the tag.

4. The device for tracking the three-dimensional motion state of light projection based on ultra-wideband technology according to claim 3 is characterized in that: The outer shell of the label module (2) is provided with a ventilation hole (25) design, and the ventilation hole (25) is located below the air pressure module and is used for identifying and judging the air pressure module.

5. The device for tracking three-dimensional motion state of light projection based on ultra-wideband technology according to claim 1, characterized in that: The tag module (2) further comprises a function button (22), a switch button, a battery power indicator window (23) and a Type-C female port (24), wherein the Type-C female port (24) is used for charging and data reading, and the switch button is used for switching the power on and off. The shell of the tag module (2) is made of light and thin plastic, and a lithium battery and an antenna are arranged inside. A switch button for switching the power on and off and a built-in battery power indicator window (23) are arranged next to the tag module. Three function buttons (22) are arranged in the middle of the device, which are respectively used to set whether the person or object is wearing the device, or to set the switch of a remote moving head light or the change of an interactive projection according to needs.

6. The device for tracking three-dimensional motion state of light projection based on ultra-wideband technology according to claim 1, characterized in that: The light projection tracking data transmitter (3) comprises a USB communication interface, a 5V power supply interface (32), a DMX512 protocol interface (33) and a network port (34). The light projection tracking data transmitter (3) converts the coordinate switch data sent by the tag into DMX512 instructions or other protocol instruction contents for control, and operates other devices through the 512 protocol interface or the network port (34). The light projection tracking data transmitter (3) communicates with the physical host through the USB communication interface to control the interactive projection or perform data modification and adjustment control. The light projection tracking data transmitter (3) sends the location data of the tag to the physical server through the physical server connection interface, and the physical server receives the location information instruction and outputs the projection transformation content.

7. The device for tracking three-dimensional motion state of light projection based on ultra-wideband technology according to claim 1, characterized in that: The number of the base stations (1) is not less than three, and they are used to construct basic coordinate marking points. The main external structure of the base station (1) is composed of a fuselage, a switch, a base station (1) sequence selection, an external power network port (34), a rubber stick antenna (11) and a Type-C data port. A UWB module is provided inside, which is mainly responsible for transmitting the data output by the tag module (2) and returning the information of the data of the received positioning signal.

8. A method for tracking the three-dimensional motion state of light projection based on ultra-wideband technology, characterized in that: The method for tracking the three-dimensional motion state of light projection based on ultra-wideband technology comprises the following steps: A basic coordinate marking point is constructed based on the base station (1), a UWB signal from the tag module (2) is received through the rubber stick antenna (11) of the base station (1), and the processed data is fed back to the tag module (2) through the same antenna; The tag module (2) calculates the distance between the base station (1) and the tag by using a preset algorithm in combination with the UWB module and the nine-axis gyroscope, and marks the three-dimensional spatial position of the tag by using a geometric algorithm to obtain positioning data; The tag module (2) obtains current environmental data through the environmental data acquisition unit, and fuses and locates the data through the data fusion processing module; The tag module (2) sends the fused data to the light projection tracking data transmitter (3), and the light projection tracking data transmitter (3) converts the fused data sent by the tag module (2) into DMX512 instructions or other protocol instruction content for control, and operates other devices through a 512 protocol interface or a network port (34). The light projection tracking data transmitter (3) sends the location data of the tag to the physical server through the physical server connection interface, and the physical server receives the location information instruction and outputs the projection transformation content.

9. According to the method for tracking the three-dimensional motion state of light projection based on ultra-wideband technology as claimed in claim 8, the unique feature is that the basic coordinate marking points constructed based on the base station (1) specifically include: The number of the base stations (1) is no less than three, and they are used to construct basic coordinate marking points to ensure that the three-dimensional spatial position of the tag can be accurately located.

10. According to the method for tracking the three-dimensional motion state of light projection based on ultra-wideband technology as claimed in claim 8, the unique authentication is that the tag module (2) calculates the distance between the base station (1) and the tag by using a preset algorithm in combination with the UWB module and the nine-axis gyroscope, and marks the three-dimensional spatial position of the tag by using a geometric algorithm to obtain positioning data, which specifically includes: The tag module (2) calculates the distance between the base station (1) and the tag by using the TWR, TOA and TDOA algorithms in combination with the UWB module and the nine-axis gyroscope, and marks the three-dimensional spatial position of the tag by using a geometric algorithm to ensure accurate positioning data.

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