Intelligent firework setting-off system and method

Abstract

The invention discloses an intelligent firework setting-off system and method. Comprising a base, an unmanned aerial vehicle, a control end, a transfer control box and a background, and the base is used for fixing fireworks and igniting the fixed fireworks; the unmanned aerial vehicle carries an infrared or laser projection device and a camera and is used for calibrating the firework position on the base and feeding back the setting-off effect; the control end is in real-time communication with the base and the unmanned aerial vehicle to realize data transmission and instruction sending; the transfer control box receives an ignition instruction of the control end and broadcasts the ignition instruction to the base; and the background is communicated with the control end and is used for storing, previewing and downloading the setting-off data. The multi-scene high-precision setting-off device is easy to operate, accurate in positioning, capable of achieving closed-loop feedback and suitable for meeting the multi-scene high-precision setting-off requirements of families or large celebrations, stage performance and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of fireworks display, and particularly to an intelligent fireworks display system and method with positioning and real-time feedback. Background Art

[0002] Traditional fireworks display relies on manual placement, making it difficult to achieve precise positioning of complex patterns. Although existing automatic display systems (such as CN222364479U) can control ignition through wireless networking, they lack the following functions: insufficient positioning accuracy, relying on manually preset coordinates, unable to dynamically adjust, without real-time feedback, unable to rehearse, unable to confirm whether ignition is successful and whether the display effect meets expectations, limited communication distance, low coordination efficiency between the repeater and the base, unable to form complex graphic schemes, and unable to support large-scale scenarios.

[0003] With the rapid development of drone technology, drones have been widely used in fireworks display. However, there is no technical report in the existing technology that uses drones to project positioning marks and intelligently match with the base, and combines a real-time feedback mechanism to use a relay to achieve large data transmission between the control terminal and the base to realize full-process closed-loop control of fireworks display. Summary of the Invention

[0004] The present invention proposes an intelligent fireworks display system and method to solve the problems of inaccurate positioning of fireworks placement and lack of closed-loop verification of display effects in the existing technology.

[0005] To achieve the above object, one of the technical solutions of the present invention is: An intelligent fireworks display system includes a base, a drone, a control terminal, a relay control box, and a background. The base is used to fix the fireworks for display and is communicatively connected to the drone. The base includes a housing, and a circuit board is provided inside the housing. The circuit board includes a power module, a communication module, and an ignition module. The power module is used to supply power to the communication module, the ignition module, and the positioning module. The communication module receives the ignition instruction and feeds back the display state; A drone, which is equipped with an infrared or laser projection device and a camera, and is used for position calibration of the base for forming a display image and shooting and feedback of the display effect; A control terminal, with an APP built-in for generating a display image. The control terminal communicates with the background and the drone in real time to achieve data transmission and send the ignition instruction; A relay control box, which is used to receive the ignition instruction from the control terminal and broadcast it to the base. The control box includes a 4G / 5G module, a GPS module, an audio module, a wireless module, and a lithium battery. The 4G / 5G module is used to communicate with the control terminal. The GPS module is used for monitoring the display area. The audio module is used to synchronize the fireworks display effect. The wireless module is used to connect to the base; The backend is communicatively connected to the control terminal and the drone, and is used for storing, previewing, and downloading the fireworks display data.

[0006] Preferably, the communication module adopts a multi-module combination of LoRa, ZigBee, GPS pps, mesh, and Bluetooth to ensure stable communication and reliable ignition. The communication module supports BLE mesh communication with the relay gateway and can real-time feedback the voltage and ignition status to the mobile APP.

[0007] Preferably, the ignition module includes multi-protocol interfaces and is adapted to fireworks products with various ignition methods.

[0008] Preferably, the base further includes magnetic, pin, suction cup, and cable tie fixing devices for fixing the base to a flat or vertical surface.

[0009] Preferably, the APP includes a graphic editing module for users to customize the fireworks display image, and a real-time monitoring module for displaying the matching degree between the positioning marks projected by the drone and the actual position of the base, as well as the battery level of the base.

[0010] Preferably, the fireworks display data includes a product list, an operation process, and a fireworks display image.

[0011] Preferably, the base is also provided with an LED light.

[0012] Preferably, the vertical surface is formed by a wire mesh or a vertical fireworks display rack suspended by the drone.

[0013] The second technical solution of the present invention provides an intelligent fireworks display method, which adopts the intelligent fireworks display system as described in the above claims, and includes the following steps: Step 1, the user downloads the fireworks display project data including patterns and / or texts from the backend through the control terminal. The data is transmitted to the relay control box, and the relay control box analyzes and generates an ignition timing file and broadcasts it to the base. Step 2, the control terminal downloads data from the backend, and this data is transmitted to the drone system. The drone is controlled to take off and fly to the target point to project an infrared mark, and the placement position of the base is determined according to the marked points. Step 3, the bases are automatically or manually sorted according to the marked positions; after sorting, the LED lights are turned on to preview the fireworks display effect. Step 4, if the preview is qualified, the control terminal issues an ignition command, and the base executes the fireworks display. Step 5, the drone takes pictures and records the fireworks display effect.

[0014] Preferably, the automatic sorting is formed according to the sequence of networking.

[0015] Preferably, export the fireworks display project data to a KML file and import it into the UAV control system. Control the UAV to fly directly above each base on the pattern and hover for 2 - 10 seconds. Project onto the ground points through the built-in infrared or laser, and determine the positions of the fireworks display points for forming various patterns and / or characters by placing the bases at the corresponding positions.

[0016] Compared with the prior art, the intelligent fireworks display system and method provided by the present invention have the following beneficial effects: Accurate positioning: UAV dynamic projection + base adaptive correction, with a positioning error ≤ 5 cm, solving the problems of low manual placement efficiency and poor accuracy caused by the need to measure with a ruler for fireworks positioning in any scenario in the prior art. Real-time feedback: Instantly upload the ignition status and visually verify the display effect. Multi-scenario adaptation: Support ground, water surface, and vertical surface fireworks displays, and be compatible with various ignition methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 : Schematic diagram of the relay box structure in the embodiment of the present invention.

[0018] Figure 2 : Schematic diagram of the system structure in the embodiment of the present invention.

[0019] Figure 3 : Schematic diagram of the system topology process in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0022] See Figure 1 、 Figure 2 、 Figure 3, An intelligent fireworks display system, comprising a base, a drone, a control terminal, and a relay control box. The base is used to fix the fireworks to be set off. The base includes a housing, and a circuit board is provided inside the housing. The circuit board includes a power module, a communication module, and an ignition module. The power module is used to supply power to the communication module, the ignition module, and the positioning module. The communication module receives the ignition instruction and feeds back the display status; The drone is equipped with an infrared or laser projection device and a camera, and is used for calibrating the position of the base for forming the display image and feeding back the display effect; The control terminal has an in-built APP for generating the display image and communicating with the base and the drone in real time to achieve data transmission and send instructions; The relay control box receives the ignition instruction from the control terminal and broadcasts it to the base. The control box includes a 4G / 5G module, a GPS module, a wireless module, an audio module, and a lithium battery. The 4G / 5G module is used to communicate with the control terminal. The GPS module is used for positioning the display area. The audio module is used to synchronize the fireworks display effect; The background communicates with the control terminal and is used for storing, previewing, and downloading the display data.

[0023] Preferably, the communication module adopts a multi-module combination of LoRa, ZigBee, GPS pps, mesh, and Bluetooth to ensure stable communication and reliable ignition. The communication module supports BLE mesh to communicate with the relay gateway and feeds back the voltage and ignition status to the mobile phone APP in real time.

[0024] Preferably, the ignition module includes multi-protocol interfaces and is adapted to fireworks products with various ignition methods.

[0025] Preferably, the base further includes: magnetic, pin-type, suction cup, and cable tie fixing devices for fixing the base to a plane or a vertical surface.

[0026] Preferably, the APP includes a graphic editing module for the user to customize the display image; and a real-time monitoring module for displaying the matching degree between the positioning mark projected by the drone and the actual position of the base and the power of the base.

[0027] Preferably, the display data includes a product list, an operation process, and a display image.

[0028] Preferably, the base is also provided with an LED light.

[0029] Preferably, the vertical surface is formed by the drone hanging a wire mesh or a vertical display rack.

[0030] Using the above intelligent fireworks display system, it includes the following steps: Step 1: The user downloads the firing project data including patterns and texts through the control terminal. The data is transmitted to the relay control box, which parses and generates an ignition timing file and broadcasts it to the base. Step 2: Control the drone to take off and fly to the target point to project the infrared marker for the placement position of the base. Step 3: The base automatically or manually sorts according to the marked position. After sorting, it previews the firing effect by lighting the Led lights. Step 4: If the preview is qualified, the control terminal issues an ignition command, and the base executes the firing. Step 5: The drone takes pictures and records the firing effect.

[0031] Preferably, automatic sorting is formed by the sequence of networking.

[0032] Preferably, export the firing project data to a KML file and import it into the drone control system. Use the handle to control the drone to fly directly above each firing point formed by the base on the pattern, pause for 10 seconds, project it onto the ground point through the built-in infrared or laser, and place the base at the position of the projected point to locate the base and fireworks.

[0033] In this embodiment, taking heart-shaped fireworks display as an example, for the intelligent fireworks display system of the present invention, the control terminal uses the built-in APP of a smart phone, and the relay box communicates with the smart phone via a 4G network. The perimeter of the heart is equally divided into 300 points, so the number of fireworks display bases is 300. The fireworks display process includes the following steps: The user selects and downloads a heart-shaped pattern through the APP and generates an ignition file. The ignition file includes a fireworks product list, an operation process, a fireworks display image, and an audio file. The number of items in the fireworks product list matches the number of fireworks display items; export the KML file to the drone, and use the RTK non-differential positioning system of the drone to fly the drone to the target point and project heart-shaped infrared marking points. The heart-shaped pattern is equally divided into 300 points. The operator places the fireworks bases on the ground, and the bases complete the placement of the fireworks display points according to the infrared markings; perform automatic sorting according to the order of networking. For example, when 300 points are used for fireworks display, after the drone is positioned at a fixed point and 300 bases are placed, communicate with the relay box to sort according to the order of networking of the bases. The requirement for the fireworks display time axis in the bases is to complete the ignition of 300 fireworks within 1 second. Synchronize and analyze the data packets of 300 points. The drone receives the KML file. First, the pattern needs to be merged into a single line in CAD and then equally divided into a certain number of points, and then exported to a third-party software to generate a map information document KML. The KML file is a geographic modeling information file stored in the Keyhole Markup Language (abbreviation: KML). KML is a geographic information system (GIS) data format based on XML. The KML file describes and stores geographic information such as landmarks, points, lines, polygons, and images, and can be used to identify and mark positions, create different camera angles, overlay textures, and add HTML content (links, font styles, etc.); after sorting, preview the fireworks display effect by lighting the Led lights; After the preview is qualified, the control terminal issues an ignition instruction, and the bases execute the ignition and fireworks display. The bases ignite the fireworks in sequence. The 300 bases are incrementally ignited one by one from front to back with a time difference of 0.2 seconds. The drone takes pictures of the fireworks display and records the fireworks display effect.

[0034] In this embodiment: Base: Integrated with a GPS / ZigBee positioning module, a magnetic fixing device, an expansion interface, and a BLE communication unit, equipped with 1 two-color Led light, which can display the status and simulate use. The specific structure of the base can refer to the fireworks display base disclosed in the patent with the publication number CN222364479U. The distance between bases can reach 50 meters. Each base has a power switch. After turning on the power of the base under the drone, it automatically identifies and sorts when networking with the relay box. The base is also equipped with 3 expansion interfaces for connecting the ignition of traditional fireworks, but all connections are through a single relay; See Figure 1, the relay box of this embodiment includes a 4G module, a GPS module, a wireless module, an audio and power amplifier module, a display module, supports 4G / BLE mesh communication, has the functions of audio synchronous output and high-precision timing control, the communication distance with each base <= 500 meters, has GPS positioning function, positioning accuracy of 10 meters, powered by lithium battery, charged through USB interface, 28x64OLED displays the battery power, built-in 5w stereo output and external audio output; The system of the present invention is based on a drone, equipped with an infrared / laser projector and a 4K camera to achieve dynamic positioning and effect feedback; uses a mobile phone as the control terminal, with a built-in APP and a background for communication connection: supports pattern design, remote control and data optimization; the interval ignition timing accuracy of the relay box is 5ms±1ms, and the maximum communication distance is 500 meters; the base expansion socket supports the access of a three-in-one traditional igniter and real-time status display through a two-color LED; the drone supports the import of KML map files, flies according to a preset trajectory and projects positioning marks.

[0035] In the "heart-shaped pattern 300 ignition and release" scenario of the embodiment of the present invention, the specific process of achieving high-precision positioning by combining the drone infrared / laser projection marking technology is as follows: 1. Benchmark station setting and initialization Benchmark station deployment: Set up an RTK benchmark station near the firing area (such as within a safe distance) to ensure coverage of the entire heart-shaped pattern range.

[0036] Data connection: The benchmark station communicates with the drone in real time through a 4G / 5G or radio link to transmit differential correction data (carrier phase observations).

[0037] Coordinate calibration: Input the geodetic coordinate system of the firing area (such as WGS-84), and complete the initial positioning calibration through static observation of the benchmark station, with an accuracy reaching the millimeter level.

[0038] 2. Drone RTK positioning and flight path planning Drone configuration: Equipped with an RTK positioning module (mobile station), an infrared / laser projector, and a 4K camera.

[0039] Receive differential data from the benchmark station, and correct its own positioning error in real time to achieve centimeter-level accuracy (≤5cm).

[0040] KML file import: The user converts the heart-shaped pattern into a KML file (including the longitude and latitude coordinates of 300 equally divided points) through the control terminal APP.

[0041] Import the KML file into the drone flight control system, and automatically generate a flight path. Each marking point corresponds to a preset position of a fireworks base.

[0042] 3. Drone dynamically projects markers Flying and hovering: The drone flies to each marked point in turn according to the KML path and hovers for 2-10 seconds (adjusted according to the ambient wind speed).

[0043] RTK positioning ensures that the drone’s hovering position error is ≤5cm.

[0044] Infrared / Laser Projection: The drone uses a laser or infrared device to project a high-brightness marking point (about 10cm in diameter) onto the ground to mark the exact placement of the firework base.

[0045] The projected position strictly corresponds to the coordinates in the KML file, and the error is corrected in real time by RTK.

[0046] 4. Fireworks base adaptive positioning and correction Base positioning module: Each firework base has a built-in GPS / ZigBee positioning module to receive the location information of the marker points projected by the drone.

[0047] The base corrects its position in real time through RTK differential data (transmitted by the drone) or the local ZigBee mesh network.

[0048] Placement and matching: The operator places the base near the marked point, and the base uses the LED indicator (red / green) to feedback the position matching status: Green light: Position error ≤5cm (meets the requirements).

[0049] Red light: Need to be manually fine-tuned until the green light comes on.

[0050] 5. Networking sorting and rehearsal verification Automatic networking: The base automatically forms a network based on the sequence of marked points (the sequence of 300 points in the KML file) and generates the ignition timing logic.

[0051] The networking information is uploaded to the control end APP through the relay box (4G / 5G+BLE Mesh).

[0052] LED Preview: The control end sends a rehearsal command, and all the base LED lights light up in sequence according to the ignition sequence, simulating the heart-shaped pattern firing effect.

[0053] The drone camera captures the preview image in real time and compares it with the expected pattern in the control end APP to confirm that there is no deviation.

[0054] 6. Ignition execution and closed-loop feedback High-precision timing control: The transfer control box analyzes the ignition timing file and broadcasts the ignition command with an accuracy of 5ms ± 1ms.

[0055] 300 bases are ignited in sequence at intervals of 0.2 seconds to ensure the coherence of the dynamic discharge of the heart-shaped pattern.

[0056] Effect verification: The drone shoots the discharge footage throughout the process and transmits it back to the control terminal in real time through a 4K camera.

[0057] The system automatically compares the actual discharge effect with the preset pattern and generates a closed-loop verification report.

[0058] The system of the present invention is convenient to use, effectively improves the fireworks placement efficiency and positioning accuracy, and has a closed-loop verification for the discharge effect, solving the inefficiency and errors of traditional manual measurement; from path planning, marker projection to base correction, it reduces manual intervention and ensures that the discharge effect meets the expectations by 100%.

[0059] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An intelligent fireworks setting system, characterized in that: It includes a base, a drone, a control terminal, a transfer control box and a background. The base is used to fix the fireworks to be set off and communicate with the drone. The base includes a shell, and a circuit board is arranged in the shell. The circuit board includes a power module, a communication module, and an ignition module. The power module is used to supply power to the communication module, the ignition module and the positioning module. The communication module receives the ignition command and feedbacks the setting status. A drone equipped with an infrared or laser projection device and a camera for calibrating the position of the base that forms the firing image and photographing and feeding back the firing effect; The control end has a built-in APP for generating the firing image. The control end communicates with the background and the drone in real time to realize data transmission and send the ignition command; The transfer control box is used to receive the firing command from the control end and broadcast it to the base. The control box includes a 4G / 5G module, a GPS module, an audio module, a wireless module and a lithium battery. The 4G / 5G module is used to communicate with the control end, the GPS module is used to monitor the firing area, the audio module is used to synchronize the fireworks firing effect, and the wireless module is used to connect to the base; The backend is connected to the control terminal and the drone for storing, previewing and downloading the launch data.

2. The intelligent fireworks display system according to claim 1, wherein, The communication module adopts a multi-module combination of LoRa, ZigBee, GPS pps, mesh and Bluetooth.

3. The intelligent fireworks display system according to claim 2, wherein A fixing device is arranged at the bottom of the shell, and the fixing device is a magnetic block, a needle, a suction cup or a cable tie, and is used to fix the base on a plane or a vertical surface.

4. The intelligent fireworks display system according to claim 3, wherein The ignition module includes a multi-protocol interface and is adapted to fireworks products with various ignition methods.

5. The intelligent fireworks display system according to claim 4, wherein The APP includes a graphic editing module for users to customize the firing image; a real-time monitoring module for displaying the matching degree between the positioning mark projected by the drone and the actual position of the base and the power level of the base.

6. The intelligent fireworks display system according to claim 5, wherein, The base is also provided with LED lights; the facade is formed by a steel wire mesh or a vertical fireworks stand suspended from a drone.

7. The intelligent fireworks display system according to claim 6, characterized in that, The firing data includes a product list, an operation flow and a firing image.

8. An intelligent fireworks setting method, using the intelligent fireworks setting system according to any one of claims 1 to 7, comprising the following steps: Step 1: The user downloads the firing project data including patterns and texts from the backend through the control terminal, and the data is transmitted to the transfer control box, which parses and generates the ignition timing file and broadcasts it to the base; Step 2: The control end downloads data to the backend to the drone, and the drone takes off and flies to the target point and projects an infrared marker point to the base placement position; Step 3, the bases are automatically or manually sorted according to the marked positions; After sorting, the firing effect is previewed by lighting up the LED lights; Step 4: If the rehearsal is qualified, the control end issues an ignition command and the base executes the ignition; Step 5: Use a drone to shoot and record the fireworks display.

9. The intelligent fireworks setting-off method according to claim 8, wherein, The order in which the bases are networked is automatically sorted.

10. The intelligent fireworks setting-off method according to claim 9, wherein, The step 2 is specifically as follows: exporting the KML file of the firing project data into the UAV control system, controlling the UAV to fly directly above the firing point, and after it stops, projecting a mark point onto the ground through its own infrared or laser, and placing the base into the mark point.

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