A dual-axle omnidirectional steering unmanned aerial vehicle laser lamp and a control method thereof

Abstract

The present application relates to the technical field of show lighting equipment, and particularly relates to a double-shaft omnidirectional steering unmanned aerial vehicle laser lamp and a control method thereof. The unmanned aerial vehicle laser lamp structure comprises a transmission device and a motor, can rotate 360 degrees along an X-axis and a Y-axis, and is packaged with a magnetic fluid sealing ring to achieve high waterproofness. The unmanned aerial vehicle laser lamp is mounted below a four-shaft or six-shaft unmanned aerial vehicle to form a freely rotatable space beam system, realize omnidirectional irradiation, and create rich three-dimensional beam effects. In addition, the flight control system of the unmanned aerial vehicle is compatible with a small unmanned aerial vehicle show control system, so that the unmanned aerial vehicle can be accurately integrated with other unmanned aerial vehicles and perform a coordinated formation show. The present application improves the visual level of the unmanned aerial vehicle light show, and compared with a traditional unmanned aerial vehicle laser device, the system can flexibly adjust the height and angle, effectively makes up for the lack of space beams in the existing unmanned aerial vehicle aerial performance, and in combination with fine control, can build more dynamic and immersive light and shadow effects in the air.

Description

Technical Field

[0001] This invention relates to the field of performance lighting equipment technology, and in particular to a dual-axis omnidirectional steering drone laser light and its control method. Background Technology

[0002] Current drone formation performance technology primarily uses LED dot matrix lights as the light source to achieve visual effects. While LED dot matrix lights possess excellent pattern display capabilities, they have significant limitations in spatial expression. First, due to the insufficient penetrability of LED point light sources, the beam dimension is lacking, making it difficult to create spatial beam effects with a sense of volume and depth, thus failing to meet the growing demand for stereoscopic visual experiences. Second, existing mounted lights typically only support single-axis rotation, lacking multi-dimensional attitude adjustment capabilities. This makes it difficult to achieve complex three-dimensional beam shapes and dynamic changes, limiting the illumination range and restricting the freedom of movement, thus inhibiting the diversity of drone lighting performances. Frequent adjustments to the drone's attitude to change the illumination direction are necessary, increasing operational difficulty and flight energy consumption. These technical shortcomings, to some extent, limit further breakthroughs in the artistic expression and visual impact of drone performances. The flexibility of illumination on target areas is low, and there is a significant laser illumination deviation, limiting the practicality and intelligence level of drone formation performances. Summary of the Invention

[0003] This invention overcomes the shortcomings of the prior art and provides a dual-axis omnidirectional steering UAV laser light and its control method.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] The first aspect of this invention provides a dual-axis omnidirectional steering drone laser light, including a detachable platform:

[0006] The detachable platform is mounted under the quadcopter drone. The detachable platform is fixedly connected to the top plate by bolts. A gimbal mechanism is installed at the bottom of the top plate. The gimbal mechanism includes a Y-axis steering mechanism, which includes a Y-axis drive motor. The Y-axis drive motor is a miniature harmonic reduction motor. The Y-axis drive motor is located on the Y-axis of the quadcopter drone. The back of the Y-axis drive motor is fixed to the bottom of the top plate. The output shaft of the Y-axis drive motor is fixed through and below the U-shaped nested universal joint, so that the Y-axis drive motor drives the U-shaped nested universal joint to rotate on the Y-axis.

[0007] The U-shaped nested universal joint is made of carbon fiber material. An X-axis steering mechanism is nested in the U-shaped nested universal joint. The X-axis steering mechanism is equipped with a laser performance spotlight, which is embedded between the nested plates on both sides of the U-shaped nested universal joint.

[0008] Furthermore, in a preferred embodiment of the present invention, the two nested plates and the laser performance spotlight are laterally connected through an inner drive bearing, so that the laser performance spotlight can rotate axially in a nested manner inside the U-shaped nested universal joint. One end of the inner drive bearing is fixed with an X-axis drive motor, which is a miniature brushless motor.

[0009] Furthermore, in a preferred embodiment of the present invention, a magnetic fluid sealing ring is provided at the rotational connection between the Y-axis drive motor and the U-shaped nested universal joint, and a magnetic fluid sealing ring is provided at the connection between the output shaft of the X-axis drive motor and the two nested plates on the U-shaped nested universal joint.

[0010] Furthermore, in a preferred embodiment of the present invention, the laser performance spotlight is provided with a main laser light, which is used to emit the main laser beam required for the performance. The main laser beam has a red light wavelength of 638nm to 650nm, a green light wavelength of 520nm to 532nm, a blue light wavelength of 400nm to 445nm, a beam diameter of 3mm to 8mm, and a beam divergence angle of 1mrad to 2.5mrad.

[0011] Furthermore, in a preferred embodiment of the present invention, a plurality of auxiliary laser lights are arranged beside the main laser light. The auxiliary laser lights are used individually or in combination to supplement the RGB color matching combination of the main laser beam, so as to realize the laser color mixing and control of graphic projection.

[0012] Furthermore, in a preferred embodiment of the present invention, the gimbal body of the laser performance spotlight integrates a DMX512-A light decoding protocol module, a position feedback encoder, and a hybrid communication layer of the MAVLink flight control protocol.

[0013] Furthermore, in a preferred embodiment of the present invention, a waterproof housing is installed above the U-shaped nested universal joint, and a dynamic balancing module is provided inside the waterproof housing. The dynamic balancing module includes two lead screw supports, and a transmission lead screw is laterally connected to the lead screw support. A counterweight is installed on the shaft of the transmission lead screw, and guide grooves are opened at both ends of the counterweight. Each guide groove at both ends is embedded in a guide groove, and each guide groove is provided on both sides of the lead screw support. The counterweight is made of tungsten alloy material, and a servo motor is connected to one end of the transmission lead screw.

[0014] A second aspect of the present invention provides a control method for a dual-axis omnidirectional steering drone laser light, applicable to any of the dual-axis omnidirectional steering drone laser lights described in any one of the claims, comprising the following steps:

[0015] Obtain the performance task of the laser show spotlight, and extract the two-dimensional fixed coordinate values ​​of the laser dot array to be projected by the laser show spotlight and the dynamic projection of each laser dot array in the laser dot array at a preset time sequence from the performance task.

[0016] Define the laser beam as a neighborhood point, calculate the direct Manhattan distance between every two neighborhood points based on two-dimensional fixed coordinate values, use the direct Manhattan distance as the neighborhood chain edge, and construct a two-dimensional projection neighborhood graph when the laser beam performs its performance by connecting the neighborhood points according to the neighborhood chain edge.

[0017] Dijkstra's algorithm is introduced to calculate the shortest Manhattan distance for each pair of neighborhood points in the two-dimensional projected neighborhood graph to replace the direct Manhattan distance of the laser beam. After the search, the shortest Manhattan distance matrix of the two-dimensional projected neighborhood graph is obtained.

[0018] Based on the performance task, the target three-dimensional region parameters of the projected laser dot matrix and the predetermined projection step size of each laser dot beam dynamically transforming to the next laser dot beam are obtained. Based on the target three-dimensional region parameters, a three-dimensional global coordinate space for the laser dot matrix projection performance is constructed.

[0019] The feature decomposition of the shortest Manhattan distance matrix, which is centered according to the predetermined timing projection step size, generates a series of temporal transformation feature values ​​and corresponding temporal transformation feature vectors of the laser dot array dynamically projected in different dimensions.

[0020] Based on big data, a virtual mapping reference coordinate system is obtained. Multiple dynamic projection homogeneous coordinate points are obtained by mapping and weighting the time series transformation feature values ​​and time series transformation feature vectors. The singular decomposition of rotation and projection is solved for each dynamic projection homogeneous coordinate point through the virtual mapping reference coordinate system. The rotation matrix and projection orientation of the laser performance spotlight projecting the laser dot matrix from the two-dimensional plane to the target three-dimensional area are obtained.

[0021] Furthermore, in a preferred embodiment of the present invention, the step of obtaining a virtual mapping reference coordinate system based on big data, mapping and weighting each temporal evolution feature value and temporal evolution feature vector to obtain multiple dynamically projected homogeneous coordinate points, and performing singular decomposition and solution of rotation and projection on each dynamically projected homogeneous coordinate point through the virtual mapping reference coordinate system to obtain the rotation matrix and projection orientation of the laser performance spotlight projecting the laser dot matrix from the two-dimensional plane to the target three-dimensional region, specifically includes the following steps:

[0022] Each of the aforementioned temporal transformation feature values ​​is bound, mapped, and weighted with the corresponding temporal transformation feature vector to obtain the dynamic projection homogeneous coordinate point of each laser beam as it is projected from the two-dimensional plane to the three-dimensional space with the preset temporal transformation.

[0023] Based on big data networks, a virtual mapping reference coordinate system for the parameters of the target three-dimensional region is obtained. The virtual mapping reference coordinate system is used to map and consider the linear combination between the two-dimensional fixed coordinate values ​​of each laser beam, and a set of virtual mapping reference coordinate points for two-dimensional projection of three-dimensional is generated.

[0024] A pose homogeneous equation is created by combining a set of virtual mapping reference coordinate points with two-dimensional fixed coordinate values. A dynamic projection homogeneous coordinate matrix is ​​constructed based on each dynamic projection homogeneous coordinate point. The projection solution of the dynamic projection homogeneous coordinate matrix is ​​obtained by singular decomposition through the pose homogeneous equation.

[0025] A preset allowable projection error threshold is set. During the singularity splitting process, the current projection error value of the three-dimensional dynamic projection pose of each laser point beam is continuously monitored. If the current projection error value is lower than the allowable projection error threshold, the singularity splitting process is terminated. At this time, the rotation singular value and translation singular value of the projection solution are output.

[0026] Based on the rotation singularity and translation singularity, the rotation amplitude and projection vector of the laser performance spotlight for the dynamic projection of each laser beam are planned and adjusted to obtain the rotation matrix and projection orientation of the laser performance spotlight projecting the laser beam from the two-dimensional plane to the target three-dimensional area.

[0027] Furthermore, in a preferred embodiment of the present invention, the following steps are also included:

[0028] A three-dimensional simulation model of the gimbal mechanism is constructed. Based on the rotation matrix, the three-dimensional simulation model is controlled in the PROE modeling software to perform a performance simulation of the projection orientation in order to obtain the simulated inertial data of the gyroscope on the gimbal mechanism.

[0029] The current attitude quaternion is set according to the rotation matrix. The gravity vector in the global coordinate system is transformed to the UAV coordinate system based on the simulated rotation operation of the current attitude quaternion. In this way, the gravity vector of the laser show spotlight rotation is estimated and the theoretical gravity direction is obtained.

[0030] The simulated gravity direction of the gyroscope acceleration is extracted by simulating inertial data, and the vector error between the simulated gravity direction and the theoretical gravity direction is calculated to obtain the attitude deviation of the laser performance spotlight.

[0031] An integral deviation term is constructed to represent the rotational deviation of simulated gravity compared to theoretical gravity. A multi-dimensional degree-of-freedom control criterion for the UAV is obtained. The integral gain of the attitude deviation generated by the multi-dimensional control of the laser performance spotlight is constrained according to the multi-dimensional degree-of-freedom control criterion. The attitude deviation is multiplied by the integral gain and added to the integral deviation term to obtain the cumulative integral deviation term.

[0032] The multi-axis communication protocol of the UAV is obtained. Based on the multi-axis communication protocol, the homing control logic of the UAV is retrieved in the big data network. The attitude deviation is identified according to the homing control logic. The offset ratio gain of attitude rotation homing is output. The product of attitude deviation and offset ratio gain is added to the cumulative integral error term to generate the angular velocity correction term.

[0033] The attitude quaternion differential equation is introduced by introducing a quaternion algorithm. Based on the angular velocity correction term, the cumulative integral error of the attitude offset and the angular velocity correction steps mentioned above are repeated in the attitude quaternion differential equation to continuously update the current attitude quaternion and obtain the new attitude quaternion.

[0034] The relative projection attitude trajectory of the laser performance spotlight from the two-dimensional plane to the target three-dimensional area is determined based on the new attitude quaternion, and the X-axis drive motor and Y-axis drive motor are controlled according to the relative projection attitude trajectory.

[0035] This invention addresses the technical deficiencies in the prior art, and its beneficial technical effects are as follows:

[0036] This invention provides a dual-axis (X-axis and Y-axis) jointly controlled drone laser light, enabling omnidirectional controllable projection and highly flexible beam control, allowing for precise dimming and directional illumination in both horizontal and vertical directions. The dual-axis steering structure allows the laser light to cover a wider spatial range, adapting to varying performance scenarios and angle requirements, significantly improving operational efficiency and practicality in drone performance applications. Simultaneously, this dual-axis structure effectively reduces beam deviation caused by changes in flight attitude, enhancing the overall stability and control precision of the drone performance. Furthermore, the laser performance spotlight of this invention includes a main laser light and multiple auxiliary laser lights. By mapping the core content of the main laser light and using the auxiliary laser lights to enhance spatial layering and fill visual gaps, the overall visual fullness is improved, creating a richer and more stunning visual effect. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 A schematic diagram of the overall structure of the gimbal mechanism;

[0040] Figure 3 This is a schematic diagram of the first partial structure of the gimbal mechanism;

[0041] Figure 4 A schematic diagram of the installation structure of a U-shaped nested universal joint and a laser performance spotlight;

[0042] Figure 5 This is a schematic diagram of the second part of the gimbal mechanism;

[0043] Figure 6 This is a schematic diagram of the overall structure of the dynamic balancing mechanism;

[0044] Figure 7 This is a partial structural diagram of the counterweight.

[0045] The annotations in the attached figures are explained as follows:

[0046] 101. Quadcopter UAV; 102. Detachable frustum; 103. Connecting top plate; 104. Y-axis drive motor; 105. U-shaped nested universal joint; 106. Laser performance spotlight; 107. Internal drive bearing; 108. X-axis drive motor; 109. Magnetohydrodynamic seal ring; 201. Main laser light; 202. Auxiliary laser light; 203. Lead screw bracket; 204. Transmission lead screw; 205. Counterweight; 206. Guide groove; 207. Guide rail; 208. Servo motor; 209. Waterproof housing. Detailed Implementation

[0047] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0048] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0049] like Figures 1-7 As shown, the first aspect of the present invention provides a dual-axis omnidirectional steering drone laser light, including a detachable platform 102:

[0050] The detachable platform 102 is mounted below the quadcopter drone 101. The detachable platform 102 is fixedly connected to the top plate 103 by bolts. A gimbal mechanism is installed at the bottom of the top plate 103. The gimbal mechanism includes a Y-axis steering mechanism, which includes a Y-axis drive motor 104. The Y-axis drive motor 104 is a miniature harmonic reduction motor. The Y-axis drive motor 104 is located on the Y-axis of the quadcopter drone 101. The back of the Y-axis drive motor 104 is fixed to the bottom of the top plate 103. The output shaft of the Y-axis drive motor 104 is fixed through and below the U-shaped nested universal joint 105, so that the Y-axis drive motor 104 drives the U-shaped nested universal joint 105 to rotate on the Y-axis.

[0051] The U-shaped nested universal joint 105 is made of carbon fiber material. An X-axis steering mechanism is nested in the U-shaped nested universal joint 105. The X-axis steering mechanism includes a laser performance spotlight 106, which is embedded between the nested plates on both sides of the U-shaped nested universal joint 105.

[0052] It should be noted that the bolts connecting the top plate 103 and the detachable platform 102 allow for rapid separation of the quadcopter drone 101 from the gimbal mechanism, improving the maintenance and replacement speed and portability of the drone's laser lights. When the laser needs to be projected onto the display area in the Y-axis coordinate system during a performance, the Y-axis drive motor 104 is activated. The output shaft of the Y-axis drive motor 104 rotates, causing the U-shaped nested gimbal 105 to rotate. This, in turn, causes the U-shaped nested gimbal 105 to drive the laser performance spotlight 106 to swing ±180° along a predetermined Y-axis axis. This solves the problem of traditional laser lights mounted on drones being unable to project laser light in any specified Y-axis direction, eliminates the technical shortcoming of poor lighting effects due to limited fixed angles of the lights, and improves the plasticity and mapping diversity of the three-dimensional beam shape customization. Secondly, since Y-axis rotation can cause instability in the drone's center of gravity, micro harmonic geared motors typically have a reduction ratio of 30:1 to 300:1. This allows them to provide a high output torque density without increasing the device's size, thus optimizing motor torque. This results in a more precise and compact structure and control for the drone laser lights, while also increasing gyroscope stability. Furthermore, micro harmonic geared motors often use progressive gear meshing, which provides smooth transmission with minimal impact, relatively low noise and vibration. This significantly reduces noise interference during drone laser performances, enhancing the visual experience.

[0053] The two nested plates are connected to the laser performance spotlight 106 through an inner drive bearing 107, allowing the laser performance spotlight 106 to rotate axially within the U-shaped nested universal joint 105. One end of the inner drive bearing 107 is fixed to an X-axis drive motor 108, which is a miniature brushless motor.

[0054] It should be noted that when the laser needs to illuminate any display area in the X-axis direction, the control X-axis drive motor 108 is activated. The X-axis drive motor 108 drives the inner drive bearing 107 to rotate at a uniform or variable speed, depending on the rhythm of the laser performance content. As the inner drive bearing 107 rotates, it drives the laser performance spotlight 106 to perform a 360° continuous rotation along the predetermined X-axis axis in the groove of the U-shaped nested universal joint 105. This allows the light from the laser performance spotlight 106 to illuminate the designated area in the X-axis direction. At the same time, in conjunction with the rotation control in the Y-axis direction, the dual-axis omnidirectional laser projection effect of the laser performance spotlight is achieved. This improves the performance limitation of traditional laser light equipment, which only supports single-axis adjustment of projection, enhances the omnidirectional movement capability of the laser beam, expands the laser coverage space, and allows the laser beam to freely shuttle, rotate, and scan in space, realizing a 360° laser pattern and movement trajectory in a three-dimensional scene, creating a dazzling three-dimensional visual effect. Miniature brushless motors, due to their high conversion efficiency, enable more precise control of the X-axis laser lights. While joint rotation torque increases energy loss, brushless motors minimize this loss, making them suitable for extended light show performances. The low frictional noise of brushless motors makes them ideal for quiet performance scenarios. Furthermore, their compact structure and small size significantly reduce the overall weight and flight deflection error rate of drones with dual-axis control, resulting in high reliability. Traditional laser light control materials often use alloys, leading to excessive weight and impacting drone flight quality. In contrast, the U-shaped nested universal joint 105 of this invention is made of carbon fiber, further reducing the overall weight of the drone carrying the laser lights and optimizing the drone's flight performance.

[0055] A magnetic fluid seal ring 109 is provided at the rotational connection between the Y-axis drive motor 104 and the U-shaped nested universal joint 105, and a magnetic fluid seal ring 109 is provided at the connection between the output shaft of the X-axis drive motor 108 and the two nested plates on the U-shaped nested universal joint 105.

[0056] It should be noted that since some drone laser performance scenarios involve aquatic environments, traditional drone laser equipment lacks adequate waterproofing measures or uses inferior materials for waterproof components. This makes the laser equipment susceptible to damage during water performances, preventing it from functioning properly and reducing the overall laser projection performance. To address this, this invention installs magnetic fluid sealing rings 109 at the rotational connection between the Y-axis drive motor 104 and the U-shaped nested universal joint 105, and at the nested connection between the X-axis drive motor 108 and the U-shaped nested universal joint 105. The magnetic fluid sealing rings 109 utilize a magnetic field to fix the magnetic fluid within the sealing gap, forming a continuous liquid sealing barrier. This prevents gas or liquid from entering the rotating joint, avoiding damage to the X and Y axis control of the laser performance spotlight. Furthermore, the magnetic fluid sealing rings 109 prevent external contaminants such as dust and moisture from entering the precision equipment, achieving excellent rotational dynamic auxiliary sealing with high airtightness. The drone laser light of this invention can overcome the limitations of performances in harsh environments, enhancing the versatility of performance scenarios.

[0057] The laser performance spotlight 106 is equipped with a main laser light 201, which is used to emit the main laser beam required for the performance. The main laser beam has a red light wavelength of 638nm to 650nm, a green light wavelength of 520nm to 532nm, a blue light wavelength of 400nm to 445nm, a beam diameter of 3mm to 8mm, and a beam divergence angle of 1mrad to 2.5mrad.

[0058] Multiple auxiliary laser lights 202 are arranged beside the main laser light 201. The auxiliary laser lights 202 are used to supplement the RGB color matching combination of the main laser beam individually or in combination to realize the laser color mixing control of graphic projection.

[0059] The gimbal body of the laser performance spotlight 106 integrates a DMX512-A light decoding protocol module, a position feedback encoder, and a hybrid communication layer of the MAVLink flight control protocol.

[0060] It should be noted that during the performance, the main laser light 201 of the laser performance spotlight 105 emits a main laser beam to render the prescribed performance tasks. The main laser light 201 is usually responsible for the main visual effects, used to project core content such as patterns, text, and logos, and is the core focal point of the audience's vision. The main laser light 201 generates complex shapes such as wide-range laser sweeps, fan shapes, cones, and grids by controlling parameters of different red, green, and blue light wavelengths. For example, it uses a beam parameter control set of 644nm red light wavelength, 525nm green light wavelength, and 430nm blue light wavelength, while confining the beam to an emission range of 5mm beam diameter and 2mrad beam divergence angle. The beam is strong and wide-range, suitable for long-distance performances, and can independently complete a variety of high-end visual effects. At the same time, the main laser light can be closely synchronized with the changes in the rhythm of the music to emphasize the climax of the performance. The auxiliary laser lights 202 can be lit individually or simultaneously with the main laser light 201 during the laser light performance. Through laser beams of different angles, colors, or frequencies, they enhance the spatial layering of the overall lighting effect, thus complementing or supplementing the presentation of certain lighting details by the main laser light 201 and providing visual supplementation to uncovered areas, achieving a visually filling effect. Furthermore, multiple auxiliary laser lights are set up in an array, and the required array combination can be customized according to the performance content, selecting synchronous or staggered projection to create a dynamic sense of immersion, effectively improving the overall visual fullness, thereby further enhancing and guiding the audience's gaze and strengthening the effect of the main light performance.

[0061] A waterproof housing 209 is installed above the U-shaped nested universal joint 105. A dynamic balancing module is set inside the waterproof housing 209. The dynamic balancing module includes two lead screw supports 203. A transmission lead screw 204 is horizontally connected to the lead screw support 203. A counterweight 205 is installed on the shaft of the transmission lead screw 204. The counterweight 205 has guide grooves 206 at both ends. Each guide groove 206 at both ends is embedded in a guide rail 207. Each guide rail 207 is set on both sides of the lead screw support 203. The counterweight 205 is made of tungsten alloy material. One end of the transmission lead screw 204 is connected to a servo motor 208.

[0062] It should be noted that during the laser show spotlight 106 performance, the weightlessness caused by the adjustment of the X and Y axes can easily lead to instability in drone flight and laser mapping. In this situation, the servo motor 208 is activated according to the direction of weightlessness. The output of the servo motor 208 drives the transmission screw 204 to rotate. During rotation, the counterweight 205 moves along the transmission screw 204 through the threaded hole, causing the counterweight 205 to slide towards the direction of weightlessness. This balances the drone's center of gravity in real time, eliminating attitude deviations caused by multi-axis deflection of the laser light, load changes, or external interference. This significantly improves the drone's flight stability and laser illumination accuracy in the face of laser-adjusted weightlessness. During the translation of the counterweight 205 along the transmission screw, the guide grooves 206 on both sides slide along the guide rails 207, improving the sliding stability of the counterweight 205 and avoiding balance control errors caused by vibration or flight weightlessness, further optimizing the accuracy of dynamic balance.

[0063] In addition, the drone laser light of this invention is equipped with an infrared sensor and a graded laser management component. The infrared sensor can be linked and controlled with the graded laser management component, which achieves intelligent adjustment of laser output power through a dynamic power control mechanism with a range power of 2 meters. When the infrared sensor detects an obstacle within 10 meters, the graded laser management component automatically downgrades the laser output to a safer illumination level, thereby effectively reducing the potential risk of laser damage to people or objects. This mechanism not only ensures the safety of the operating environment but also ensures the reliability and compliance of the equipment in complex application scenarios. The drone laser light of this invention is also equipped with an emergency fuse mechanism. The emergency fuse mechanism adopts a dual CAN bus architecture design, which has high system redundancy and fault tolerance. When the main controller fails or malfunctions, the backup system can immediately take over control and automatically initiate a safe landing procedure, ensuring that the equipment can still complete the landing operation smoothly and under control under abnormal conditions. This mechanism significantly improves the overall operational safety and reliability of the device, effectively preventing accidental falls or damage caused by single-point failures.

[0064] A second aspect of the present invention provides a control method for a dual-axis omnidirectional steering drone laser light, applicable to any of the dual-axis omnidirectional steering drone laser lights described in any one of the claims, comprising the following steps:

[0065] Obtain the performance task of the laser show spotlight, and extract the two-dimensional fixed coordinate values ​​of the laser dot array to be projected by the laser show spotlight and the dynamic projection of each laser dot array in the laser dot array at a preset time sequence from the performance task.

[0066] Define the laser beam as a neighborhood point, calculate the direct Manhattan distance between every two neighborhood points based on two-dimensional fixed coordinate values, use the direct Manhattan distance as the neighborhood chain edge, and construct a two-dimensional projection neighborhood graph when the laser beam performs its performance by connecting the neighborhood points according to the neighborhood chain edge.

[0067] Dijkstra's algorithm is introduced to calculate the shortest Manhattan distance for each pair of neighborhood points in the two-dimensional projected neighborhood graph to replace the direct Manhattan distance of the laser beam. After the search, the shortest Manhattan distance matrix of the two-dimensional projected neighborhood graph is obtained.

[0068] Based on the performance task, the target three-dimensional region parameters of the projected laser dot matrix and the predetermined projection step size of each laser dot beam dynamically transforming to the next laser dot beam are obtained. Based on the target three-dimensional region parameters, a three-dimensional global coordinate space for the laser dot matrix projection performance is constructed.

[0069] The feature decomposition of the shortest Manhattan distance matrix, which is centered according to the predetermined timing projection step size, generates a series of temporal transformation feature values ​​and corresponding temporal transformation feature vectors of the laser dot array dynamically projected in different dimensions.

[0070] Based on big data, a virtual mapping reference coordinate system is obtained. Multiple dynamic projection homogeneous coordinate points are obtained by mapping and weighting the time series transformation feature values ​​and time series transformation feature vectors. The singular decomposition of rotation and projection is solved for each dynamic projection homogeneous coordinate point through the virtual mapping reference coordinate system. The rotation matrix and projection orientation of the laser performance spotlight projecting the laser dot matrix from the two-dimensional plane to the target three-dimensional area are obtained.

[0071] It is important to note that for performance drones, the precise projection of laser beams onto the target area is crucial for achieving the desired light and shadow or image expression. This requires not only accurate projection patterns from the laser tubes themselves but also precise rotation, projection angle, direction, and speed. However, traditional laser control methods have low accuracy in coordinate positioning during the dynamic process of mapping the laser beam from the two-dimensional plane of the emission source to the three-dimensional space of the target area. This results in an inability to accurately determine the rotation and projection orientation of the laser beam on the X and Y axes during drone flight control, making it difficult to project the laser beam onto the intended display area. This significantly reduces the light and shadow experience of laser performance spotlights and diminishes the visual depth of drone light shows. To address this, this method constructs a two-dimensional projection neighborhood map based on the fixed two-dimensional coordinate values ​​of each laser beam to be projected dynamically at a preset time sequence. By quantifying the projection differences between each pair of laser beams, it quickly obtains the emission, switching, and combination patterns of the laser array, providing a reliable basis for the two-dimensional light source transformation rules for subsequent two-dimensional to three-dimensional coordinate tracking. The two-dimensional projected neighborhood graph avoids the problem of Euclidean distance failing to handle nonlinear structures in high-dimensional space by retaining only the connections between adjacent laser beams, such as laser projections, handwritten digits, or facial images. It then replaces the original direct Euclidean distance with the geodesic distance of the shortest path on the laser manifold. This substitution of the direct Manhattan distance with the shortest Manhattan distance more realistically reflects the distribution of the laser beams on the low-dimensional manifold, revealing the global nonlinear structure of laser emission. For example, a spiral laser beam distribution can be visualized using the shortest path distance, reflecting its unfolding shape on the manifold and improving the interpretation accuracy of the two-dimensional coordinate mapping.

[0072] It should be noted that since laser shows mostly move continuously in conjunction with program effects, this is a process of dynamic evolution of laser beams over time. Therefore, by obtaining the predetermined projection step size of each laser beam in the projected laser array as it dynamically evolves to the next laser beam, the shortest Manhattan distance matrix is ​​further centered. This ensures that the laser beams maintain accurate coordinate positioning in the three-dimensional space region from two-dimensional coordinates. By centering to remove the influence of the mean, the two-dimensional coordinates of the laser beams are kept centered to form an inner product matrix. This inner product matrix enables the original laser beams to be linearly embedded in the higher-dimensional space based on the new shortest path distance matrix. This allows the extraction of the two-dimensional principal component information of the original laser array, achieving accurate feature decomposition of dynamic projection in different dimensions. This ensures that the distance relationship between laser beams maintains the original geodesic structure as much as possible, improving the dynamic tracking accuracy of the two-dimensional coordinate three-dimensional mapping. The eigenvalues ​​and eigenvectors of the centered matrix factorization reveal the master mapping structure of two-dimensional coordinates projected onto a specified three-dimensional point. Therefore, by mapping and weighting the eigenvalues ​​and eigenvectors of each temporal transformation, multiple dynamically projected homogeneous coordinate points can be obtained, clarifying the specific coordinate system position of the high-dimensional dynamic mapping. Finally, by decomposing and analyzing these coordinates according to the mapping reference coordinate system of the virtual mapping, the rotation amplitude and projection vector required for the laser performance spotlight to project the two-dimensional laser beam onto the three-dimensional target area can be planned. This method can optimize the dynamic coordinate capture accuracy of the laser beam projected from the two-dimensional plane to the three-dimensional display area. Compared with traditional methods, it can significantly improve the accurate characterization of the necessary projection posture of the laser performance spotlight on different axes, reduce the mapping deviation of the laser spotlight on the laser dot matrix in the dual-axis orientation, and improve the projection quality of the laser performance.

[0073] Furthermore, in a preferred embodiment of the present invention, the step of obtaining a virtual mapping reference coordinate system based on big data, mapping and weighting each temporal evolution feature value and temporal evolution feature vector to obtain multiple dynamically projected homogeneous coordinate points, and performing singular decomposition and solution of rotation and projection on each dynamically projected homogeneous coordinate point through the virtual mapping reference coordinate system to obtain the rotation matrix and projection orientation of the laser performance spotlight projecting the laser dot matrix from the two-dimensional plane to the target three-dimensional region, specifically includes the following steps:

[0074] Each of the aforementioned temporal transformation feature values ​​is bound, mapped, and weighted with the corresponding temporal transformation feature vector to obtain the dynamic projection homogeneous coordinate point of each laser beam as it is projected from the two-dimensional plane to the three-dimensional space with the preset temporal transformation.

[0075] Based on big data networks, a virtual mapping reference coordinate system for the parameters of the target three-dimensional region is obtained. The virtual mapping reference coordinate system is used to map and consider the linear combination between the two-dimensional fixed coordinate values ​​of each laser beam, and a set of virtual mapping reference coordinate points for two-dimensional projection of three-dimensional is generated.

[0076] A pose homogeneous equation is created by combining a set of virtual mapping reference coordinate points with two-dimensional fixed coordinate values. A dynamic projection homogeneous coordinate matrix is ​​constructed based on each dynamic projection homogeneous coordinate point. The projection solution of the dynamic projection homogeneous coordinate matrix is ​​obtained by singular decomposition through the pose homogeneous equation.

[0077] A preset allowable projection error threshold is set. During the singularity splitting process, the current projection error value of the three-dimensional dynamic projection pose of each laser point beam is continuously monitored. If the current projection error value is lower than the allowable projection error threshold, the singularity splitting process is terminated. At this time, the rotation singular value and translation singular value of the projection solution are output.

[0078] Based on the rotation singularity and translation singularity, the rotation amplitude and projection vector of the laser performance spotlight for the dynamic projection of each laser beam are planned and adjusted to obtain the rotation matrix and projection orientation of the laser performance spotlight projecting the laser beam from the two-dimensional plane to the target three-dimensional area.

[0079] It should be noted that, regarding the step of decomposing and analyzing these dynamically projected homogeneous coordinate points according to the mapping reference system of the virtual mapping reference coordinate system, this method first performs a weighted mapping of each temporal transformation feature value and the corresponding temporal transformation feature vector in different dimensions. This interprets the relative dynamic transformation positions between each laser beam and restores the initial source relationship to the greatest extent possible. This allows for the generation of a complete expression of the two-dimensional laser beam dynamically mapped to three-dimensional spatial homogeneous coordinates over time. Homogeneous coordinates facilitate unified linear matrix operations, improving the accuracy and robustness of the system's attitude calculation. Next, a virtual mapping reference coordinate system for the target three-dimensional region parameters is obtained. Based on this virtual mapping reference coordinate system, the mapping of two-dimensional coordinates to a high-dimensional reference reference linearly combines two-dimensional fixed coordinates. This identifies a set of virtual reference points with certain geometric properties to ensure that the laser beams can satisfy the mapping relationship with 2D coordinate points after geometric transformation. This provides a highly reliable reference for the mapping of dynamically projected homogeneous coordinate points from two-dimensional to three-dimensional, enabling the solution of the projection and rotation attitudes of the laser performance spotlights to have a more detailed spatial mapping linear trend. Subsequently, these dynamically projected homogeneous coordinate points are solved by creating a homogeneous pose equation, specifically using a singular decomposition method. This helps describe the main change direction of the original two-dimensional laser beam gradually mapping to higher dimensions, ensuring that the main direction information of the laser performance spotlight attitude planning and definition is preferentially preserved, with secondary information following behind. This improves the interpretability and accuracy of the rotation transformation and projection positioning of the laser performance spotlight under the orthogonal basis of the X and Y axes. If the current projection error value is lower than the allowable projection error threshold, it means that the projection error between the two-dimensional coordinate point of a certain laser beam and its corresponding mapped three-dimensional coordinate point meets the minimum error constraint. At this time, the rotation and projection definition are at their optimal state, and therefore the singular decomposition process is terminated. This method can decompose the dynamic projection homogeneous coordinates of each laser beam as it evolves from a two-dimensional plane to a three-dimensional space according to the pose reference benchmark. This allows for precise planning of the rotation matrix and projection orientation of the laser beam as it projects from the two-dimensional plane to the target three-dimensional region. This provides a clear and definite direction for calculating the attitude trajectory control of the laser light in the UAV flight control process, which involves the coordinated action of the X and Y axes. This makes the all-round performance illumination control of the dual-axis laser light more precise.

[0080] Furthermore, in a preferred embodiment of the present invention, the following steps are also included:

[0081] A three-dimensional simulation model of the gimbal mechanism is constructed. Based on the rotation matrix, the three-dimensional simulation model is controlled in the PROE modeling software to perform a performance simulation of the projection orientation in order to obtain the simulated inertial data of the gyroscope on the gimbal mechanism.

[0082] The current attitude quaternion is set according to the rotation matrix. The gravity vector in the global coordinate system is transformed to the UAV coordinate system based on the simulated rotation operation of the current attitude quaternion. In this way, the gravity vector of the laser show spotlight rotation is estimated and the theoretical gravity direction is obtained.

[0083] The simulated gravity direction of the gyroscope acceleration is extracted by simulating inertial data, and the vector error between the simulated gravity direction and the theoretical gravity direction is calculated to obtain the attitude deviation of the laser performance spotlight.

[0084] An integral deviation term is constructed to represent the rotational deviation of simulated gravity compared to theoretical gravity. A multi-dimensional degree-of-freedom control criterion for the UAV is obtained. The integral gain of the attitude deviation generated by the multi-dimensional control of the laser performance spotlight is constrained according to the multi-dimensional degree-of-freedom control criterion. The attitude deviation is multiplied by the integral gain and added to the integral deviation term to obtain the cumulative integral deviation term.

[0085] The multi-axis communication protocol of the UAV is obtained. Based on the multi-axis communication protocol, the homing control logic of the UAV is retrieved in the big data network. The attitude deviation is identified according to the homing control logic. The offset ratio gain of attitude rotation homing is output. The product of attitude deviation and offset ratio gain is added to the cumulative integral error term to generate the angular velocity correction term.

[0086] The attitude quaternion differential equation is introduced by introducing a quaternion algorithm. Based on the angular velocity correction term, the cumulative integral error of the attitude offset and the angular velocity correction steps mentioned above are repeated in the attitude quaternion differential equation to continuously update the current attitude quaternion and obtain the new attitude quaternion.

[0087] The relative projection attitude trajectory of the laser performance spotlight from the two-dimensional plane to the target three-dimensional area is determined based on the new attitude quaternion, and the X-axis drive motor and Y-axis drive motor are controlled according to the relative projection attitude trajectory.

[0088] It should be noted that while obtaining the rotation matrix and projection orientation allows us to determine the approximate rotational state and projection posture of each laser beam projected by the laser performance spotlight, traditional multi-axis control methods have poor attitude trajectory calculation performance, making it difficult to accurately solve the corresponding omnidirectional laser projection attitude control of the multi-axis laser gimbal system based on the rotation matrix and projection orientation. To address this, this method first obtains the simulated inertial data of the gyroscope during projection of the omnidirectional gimbal mechanism through simulation. Then, it sets the current attitude quaternion, which represents the real-time rotational state supplied under the time-series advancement of the rotation matrix during the laser light simulation. The theoretical gravity direction serves as a reference direction, used to compare with the actual observations of the gyroscope, thereby detecting attitude errors. Furthermore, transforming the gravity vector from the global coordinate system to the UAV coordinate system during the simulated rotation operation allows for better inference of the theoretical gravity direction of the gyroscope under the current attitude quaternion premise from the coordinate perspective of the UAV flight control mode, improving the accuracy of the laser performance spotlight gravity prediction and ensuring the reference value of the theoretical gravity direction. By comparing the gravity direction output by the gyroscope during simulation with the gravity direction estimated based on the current quaternion, the error vector is further calculated. This error quantifies the attitude deviation difference between the current attitude estimate and the gyroscope acceleration measurement results, providing a reliable basis for correcting gyroscope drift.

[0089] It should be noted that the attitude deviations generated by the multi-dimensional control of the laser performance spotlights are subsequently accumulated and statistically analyzed. Through integration, long-term attitude errors can be accumulated and compensated, especially gyroscope zero-bias errors in multi-axis systems. The error compensation is continuously adjusted over time to gradually eliminate long-term gyroscope drift errors, achieving low-frequency drift suppression. Compared to various traditional control methods, this significantly improves the stability and accuracy of attitude estimation by smoothing the attitude error. Then, the total error vector is multiplied by the proportional gain and the accumulated integral error term is added to generate a correction term for the gyroscope angular velocity, which is then added to the angular velocity measured by the gyroscope. The deflection proportional gain is used to quickly respond to the current deflection error, while the accumulated integral error term is used to handle long-term attitude offset errors. This corrects the gyroscope rotation measurement during simulated laser projection, reduces attitude estimation errors caused by gyroscope drift and noise, suppresses gyroscope drift, and avoids linear attitude angle estimation errors. Finally, the corrected angular velocity is used to update the current attitude quaternion. By updating the quaternion, the attitude change of the object can be tracked in real time, accurately reflecting the omnidirectional projection attitude trajectory of the laser show spotlight along the X and Y axes. This method can simulate and infer the attitude trajectory of the drone laser light under known rotation matrix and projection orientation conditions, reduce the cumulative error of attitude estimation, and significantly improve the accuracy of dynamic projection of the drone laser light.

[0090] The above description, based on preferred embodiments of the present invention, is quite specific and detailed, but it should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A control method for a dual-axis omnidirectional steering UAV laser light, characterized in that, Includes the following steps: Obtain the performance task of the laser show spotlight, and extract the two-dimensional fixed coordinate values ​​of the laser dot array to be projected by the laser show spotlight and the dynamic projection of each laser dot array in the laser dot array at a preset time sequence from the performance task. Define the laser beam as a neighborhood point, calculate the direct Manhattan distance between every two neighborhood points based on two-dimensional fixed coordinate values, use the direct Manhattan distance as the neighborhood chain edge, and construct a two-dimensional projection neighborhood graph when the laser beam performs its performance by connecting the neighborhood points according to the neighborhood chain edge. Dijkstra's algorithm is introduced to calculate the shortest Manhattan distance for each pair of neighborhood points in the two-dimensional projected neighborhood graph to replace the direct Manhattan distance of the laser beam. After the search, the shortest Manhattan distance matrix of the two-dimensional projected neighborhood graph is obtained. Based on the performance task, the target three-dimensional region parameters of the projected laser dot matrix and the predetermined projection step size of each laser dot beam dynamically transforming to the next laser dot beam are obtained. Based on the target three-dimensional region parameters, a three-dimensional global coordinate space for the laser dot matrix projection performance is constructed. The feature decomposition of the shortest Manhattan distance matrix, which is centered according to the predetermined timing projection step size, generates a series of temporal transformation feature values ​​and corresponding temporal transformation feature vectors of the laser dot array dynamically projected in different dimensions. Based on big data, a virtual mapping reference coordinate system is obtained. Multiple dynamic projection homogeneous coordinate points are obtained by mapping and weighting the time series transformation feature values ​​and time series transformation feature vectors. The singular decomposition of rotation and projection is solved for each dynamic projection homogeneous coordinate point through the virtual mapping reference coordinate system. The rotation matrix and projection orientation of the laser performance spotlight projecting the laser dot matrix from the two-dimensional plane to the target three-dimensional area are obtained.

2. The control method for a dual-axis omnidirectional steering UAV laser light according to claim 1, characterized in that, The drone laser light includes a detachable platform mounted under the quadcopter drone. The detachable platform is fixedly connected to a top plate by bolts. A gimbal mechanism is installed at the bottom of the top plate. The gimbal mechanism includes a Y-axis steering mechanism, which includes a Y-axis drive motor. The Y-axis drive motor is a miniature harmonic reduction motor and is located on the Y-axis of the quadcopter drone. The back of the Y-axis drive motor is fixed to the bottom of the top plate. The output shaft of the Y-axis drive motor is fixed through and below a U-shaped nested universal joint, so that the Y-axis drive motor drives the U-shaped nested universal joint to rotate on the Y-axis. The U-shaped nested universal joint is made of carbon fiber material. An X-axis steering mechanism is nested in the U-shaped nested universal joint. The X-axis steering mechanism is equipped with a laser performance spotlight, which is embedded between the nested plates on both sides of the U-shaped nested universal joint.

3. The control method for a dual-axis omnidirectional steering UAV laser light according to claim 2, characterized in that, The two nested plates are connected to the laser performance spotlight laterally through an inner drive bearing, allowing the laser performance spotlight to rotate axially within the U-shaped nested universal joint. One end of the inner drive bearing is fixed to an X-axis drive motor, which is a miniature brushless motor.

4. The control method for a dual-axis omnidirectional steering UAV laser light according to claim 2, characterized in that, A magnetohydrodynamic (MHD) seal is provided at the rotational connection between the Y-axis drive motor and the U-shaped nested universal joint, and a MHD seal is provided at the connection between the output shaft of the X-axis drive motor and the two nested plates on the U-shaped nested universal joint.

5. The control method for a dual-axis omnidirectional steering UAV laser light according to claim 2, characterized in that, The laser performance spotlight is equipped with a main laser light, which is used to emit the main laser beam required for the performance. The main laser beam has a red light wavelength of 638nm to 650nm, a green light wavelength of 520nm to 532nm, a blue light wavelength of 400nm to 445nm, a beam diameter of 3mm to 8mm, and a beam divergence angle of 1mrad to 2.5mrad.

6. The control method for a dual-axis omnidirectional steering UAV laser light according to claim 5, characterized in that, Multiple auxiliary laser lights are arranged next to the main laser light. The auxiliary laser lights are used individually or in combination to supplement and coordinate with the RGB color matching of the main laser beam, so as to realize the laser color mixing and control of graphic projection.

7. The control method for a dual-axis omnidirectional steering UAV laser light according to claim 2, characterized in that, The gimbal body of the laser performance spotlight integrates a DMX512-A light decoding protocol module, a position feedback encoder, and a hybrid communication layer of the MAVLink flight control protocol.

8. The control method for a dual-axis omnidirectional steering UAV laser light according to claim 2, characterized in that, A waterproof housing is installed above the U-shaped nested universal joint. A dynamic balancing module is installed inside the waterproof housing. The dynamic balancing module includes two lead screw supports. A transmission lead screw is horizontally connected to the lead screw support. A counterweight is installed on the shaft of the transmission lead screw. Guide grooves are opened at both ends of the counterweight. Each guide groove at both ends is embedded in a guide groove. Each guide groove is located on both sides of the lead screw support. The counterweight is made of tungsten alloy material. A servo motor is connected to one end of the transmission lead screw.

9. The control method for a dual-axis omnidirectional steering UAV laser light according to claim 1, characterized in that, The process involves obtaining a virtual mapping reference coordinate system based on big data, mapping and weighting each temporal evolution feature value and temporal evolution feature vector to obtain multiple dynamically projected homogeneous coordinate points, and then performing singular decomposition and solution for rotation and projection on each dynamically projected homogeneous coordinate point through the virtual mapping reference coordinate system. This yields the rotation matrix and projection orientation of the laser performance spotlight projecting the laser dot matrix from a two-dimensional plane to the target three-dimensional region. Specifically, this includes the following steps: Each of the aforementioned temporal transformation feature values ​​is bound, mapped, and weighted with the corresponding temporal transformation feature vector to obtain the dynamic projection homogeneous coordinate point of each laser beam as it is projected from the two-dimensional plane to the three-dimensional space with the preset temporal transformation. Based on big data networks, a virtual mapping reference coordinate system for the parameters of the target three-dimensional region is obtained. The virtual mapping reference coordinate system is used to map and consider the linear combination between the two-dimensional fixed coordinate values ​​of each laser beam, and a set of virtual mapping reference coordinate points for two-dimensional projection of three-dimensional is generated. A pose homogeneous equation is created by combining a set of virtual mapping reference coordinate points with two-dimensional fixed coordinate values. A dynamic projection homogeneous coordinate matrix is ​​constructed based on each dynamic projection homogeneous coordinate point. The projection solution of the dynamic projection homogeneous coordinate matrix is ​​obtained by singular decomposition through the pose homogeneous equation. A preset allowable projection error threshold is set. During the singularity splitting process, the current projection error value of the three-dimensional dynamic projection pose of each laser point beam is continuously monitored. If the current projection error value is lower than the allowable projection error threshold, the singularity splitting process is terminated. At this time, the rotation singular value and translation singular value of the projection solution are output. Based on the rotation singularity and translation singularity, the rotation amplitude and projection vector of the laser performance spotlight for the dynamic projection of each laser beam are planned and adjusted to obtain the rotation matrix and projection orientation of the laser performance spotlight projecting the laser beam from the two-dimensional plane to the target three-dimensional area.

10. The control method for a dual-axis omnidirectional steering UAV laser light according to claim 1, characterized in that, It also includes the following steps: A three-dimensional simulation model of the gimbal mechanism is constructed. Based on the rotation matrix, the three-dimensional simulation model is controlled in the PROE modeling software to perform a performance simulation of the projection orientation in order to obtain the simulated inertial data of the gyroscope on the gimbal mechanism. The current attitude quaternion is set according to the rotation matrix. The gravity vector in the global coordinate system is transformed to the UAV coordinate system based on the simulated rotation operation of the current attitude quaternion. In this way, the gravity vector of the laser show spotlight rotation is estimated and the theoretical gravity direction is obtained. The simulated gravity direction of the gyroscope acceleration is extracted by simulating inertial data, and the vector error between the simulated gravity direction and the theoretical gravity direction is calculated to obtain the attitude deviation of the laser performance spotlight. An integral deviation term is constructed to represent the rotational deviation of simulated gravity compared to theoretical gravity. A multi-dimensional degree-of-freedom control criterion for the UAV is obtained. The integral gain of the attitude deviation generated by the multi-dimensional control of the laser performance spotlight is constrained according to the multi-dimensional degree-of-freedom control criterion. The attitude deviation is multiplied by the integral gain and added to the integral deviation term to obtain the cumulative integral deviation term. The multi-axis communication protocol of the UAV is obtained. Based on the multi-axis communication protocol, the homing control logic of the UAV is retrieved in the big data network. The attitude deviation is identified according to the homing control logic. The offset ratio gain of attitude rotation homing is output. The product of attitude deviation and offset ratio gain is added to the cumulative integral error term to generate the angular velocity correction term. The attitude quaternion differential equation is introduced by introducing a quaternion algorithm. Based on the angular velocity correction term, the cumulative integral error of the attitude offset and the angular velocity correction steps mentioned above are repeated in the attitude quaternion differential equation to continuously update the current attitude quaternion and obtain the new attitude quaternion. The relative projection attitude trajectory of the laser performance spotlight from the two-dimensional plane to the target three-dimensional area is determined based on the new attitude quaternion, and the X-axis drive motor and Y-axis drive motor are controlled according to the relative projection attitude trajectory.

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