Multi-unmanned-aerial-vehicle cooperative glass curtain wall light performance method and device for unmanned aerial vehicles

Abstract

The invention discloses a multi-machine cooperation glass curtain wall light performance method and device for unmanned aerial vehicles, and the method comprises the steps: building a performance coordinate system of a target glass curtain wall, and mapping the light performance content into a plurality of target adsorption points in the performance coordinate system and corresponding light instructions; distributing target adsorption points for all unmanned aerial vehicles participating in performance, and planning a flight path and an adsorption time sequence; each unmanned aerial vehicle is controlled to fly to a target position and be adsorbed to the glass curtain wall according to the planned flight path, and a ready state is fed back; and after all the unmanned aerial vehicles participating in performance are ready, triggering the unmanned aerial vehicles to synchronously execute the light instruction. Through deep cooperation of the unmanned aerial vehicle and the glass curtain wall, the technical problem that in the prior art, multi-machine cooperative wall pixelated performance is not supported is solved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method and apparatus for multi-UAV collaborative glass curtain wall light show. Background Technology

[0002] Currently, drone-based light shows primarily rely on aerial formation technology, which has inherent limitations: First, drones need to hover continuously to maintain formation, resulting in high energy consumption, short performance times (usually less than 15 minutes), and poor wind resistance, with formations easily distorted in winds above level 6. Second, this technology cannot be coupled with building facades, resulting in a limited dimension of expression and an inability to achieve three-dimensional interaction with vertical surfaces such as glass curtain walls. To expand performance space, the industry has attempted to introduce adsorption functions for drones, but existing adsorption solutions have significant shortcomings: for example, drones using fixed lateral suction cups need to tilt their bodies to contact the wall, making operation complex and with a low success rate; while drones using bottom adsorption solutions can attach horizontally, they lack a fast and reliable telescopic adsorption mechanism, failing to achieve the second-level adsorption and detachment rhythm required for performances, and failing to consider systemic issues such as global path planning, timing synchronization, and conflict resolution when multiple drones collaborate to form a pixelated light array on a wall. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and device for multi-drone collaborative glass curtain wall light show.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for multi-drone collaborative light show on a glass curtain wall, wherein the drone includes a telescopic adsorption arm for adsorbing onto the glass curtain wall, and the method includes: Establish a performance coordinate system for the target glass curtain wall, and map the light show content to multiple target adsorption points and their corresponding lighting commands in the performance coordinate system; Assign target adsorption points to all drones participating in the performance, and plan their flight paths and adsorption timing. Control each drone to fly to the target location according to the planned flight path and attach to the glass curtain wall, and report the ready status; Once all the drones participating in the performance are ready, they are triggered to execute lighting commands in sync.

[0005] Furthermore, the step of establishing a performance coordinate system for the target glass curtain wall and mapping the light show content to multiple target adsorption points and their corresponding lighting commands in the performance coordinate system includes: Obtain the three-dimensional geometric information of the target glass curtain wall and establish a performance coordinate system; Rasterize the light show content into a pixel matrix; Each pixel in the pixel matrix is ​​mapped to the position of the glass curtain wall in the performance coordinate system to generate the target adsorption point.

[0006] Furthermore, the process of assigning target adsorption points to all participating drones and planning flight paths and adsorption sequences includes: Based on the initial position of each UAV, an initial target adsorption point is assigned to it; Generate a collision-free flight path for each UAV from its initial position to its hovering position in front of its initial target adsorption point; The flight paths of all drones are combined with the adsorption time sequence information to construct a spatiotemporal trajectory model and detect whether there are flight conflicts. If a flight conflict is detected, the flight path and / or adsorption timing are adjusted until the conflict is eliminated or the value is below the tolerance threshold.

[0007] Furthermore, if a flight conflict is detected, the flight path and / or adsorption timing are adjusted until the conflict is eliminated or the value falls below a tolerance threshold. Specifically, adjusting the flight adsorption timing involves: Divide the wall into multiple areas; The time interval between the adsorption actions of adjacent drones in the same area shall not be less than a preset value.

[0008] Furthermore, the control of each UAV to fly to the target location according to the planned flight path and attach to the glass curtain wall, and to report the ready status, includes: Control the drone to fly and hover stably at a predetermined distance from the glass curtain wall; Control the drone's telescopic suction arm to extend horizontally until the suction device at its end approaches or contacts the glass curtain wall. Activate the adsorption device to generate adsorption force and fix the drone to the glass curtain wall; After confirming that the attachment is secure, turn off the drone's rotor power and switch to the low-power glass curtain wall performance standby mode.

[0009] Furthermore, after confirming stable adhesion, the drone's rotor power is turned off, and it switches to a low-power glass curtain wall performance standby mode. The conditions for confirming stable adhesion are as follows: The adsorption force generated by the adsorption device reaches the first threshold, and the fluctuation range is less than the second threshold within a preset time after reaching the first threshold.

[0010] Furthermore, after all the drones participating in the performance are ready and the synchronized execution of the light commands is triggered, the process also includes: After the light show ends, a detachment command is sent to each drone. The detachment command can be triggered uniformly or in a grouped order. When the drone receives the de-adhesion command, it releases the adsorption force, activates part of the rotor to provide thrust away from the wall, and retracts the telescopic adsorption arm. Once the telescopic suction arm is fully retracted, all rotors are activated and the aircraft flies back to the takeoff and landing area along the preset return path.

[0011] Secondly, the present invention also provides a multi-drone collaborative glass curtain wall light show device, wherein the drone includes a telescopic suction arm for adhering to the glass curtain wall, and the device includes: Establish a unit to create a performance coordinate system for the target glass curtain wall and map the light show content to multiple target adsorption points and their corresponding light commands in the performance coordinate system; The allocation unit is used to assign target adsorption points to all drones participating in the performance and to plan flight paths and adsorption sequences. The control feedback unit is used to control each UAV to fly to the target location according to the planned flight path and attach to the glass curtain wall, and to provide feedback on the ready status. The triggering unit is used to trigger all drones participating in the performance to execute lighting commands synchronously once they are ready.

[0012] Thirdly, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a multi-drone collaborative glass curtain wall light show method for drones as described above.

[0013] Fourthly, the present invention also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform a multi-drone collaborative glass curtain wall light show method as described above.

[0014] The advantages of this invention compared to existing technologies are as follows: By introducing a telescopic adsorption arm, the drone can quickly and stably adhere to a vertical glass curtain wall in a horizontal posture, and shut off its rotors after adsorption, thereby reducing power consumption to an extremely low level and significantly improving energy efficiency and performance endurance. By establishing a unified performance coordinate system and accurately mapping the lighting content to the target adsorption point on the wall, combined with global conflict detection and optimized path and timing planning, multiple drones can be deployed and performed synchronously on the wall in an orderly and collision-free manner, forming high-resolution, highly stable static or dynamic lighting images, completely eliminating the jitter problem caused by hovering in the air. Overall, through the deep cooperation between drones and glass curtain walls, the technical challenge of existing technologies not supporting multi-drone collaborative pixelated wall performances is solved.

[0015] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other objectives, features and advantages of the present invention more obvious and understandable, preferred embodiments are described in detail below. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of a multi-drone collaborative glass curtain wall light show method provided in a specific embodiment of the present invention. Figure 1 ; Figure 2 A flowchart of a multi-drone collaborative glass curtain wall light show method provided in a specific embodiment of the present invention. Figure 2 ; Figure 3 A flowchart of a multi-drone collaborative glass curtain wall light show method provided in a specific embodiment of the present invention. Figure 3 ; Figure 4 A flowchart of a multi-drone collaborative glass curtain wall light show method provided in a specific embodiment of the present invention. Figure 4 ; Figure 5 A flowchart of a multi-drone collaborative glass curtain wall light show method provided in a specific embodiment of the present invention. Figure 5 ; Figure 6 A schematic block diagram of a multi-drone collaborative glass curtain wall light show device provided for a specific embodiment of the present invention; Figure 7 This is a schematic block diagram of a computer device provided for a specific embodiment of the present invention. Detailed Implementation

[0018] The technical solution of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0020] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0021] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0022] like Figure 1 As shown, this embodiment of the invention provides a method for multi-drone collaborative glass curtain wall light show using drones. The drones adopt a carbon fiber quadcopter structure with a wheelbase of 220mm and a total weight of ≤350g; they integrate a UWB / differential GPS hybrid positioning module with a positioning accuracy of ±2cm; they are equipped with a forward-looking and downward-looking binocular vision system for obstacle avoidance and accurate distance measurement; the main control chip adopts an STM32H7+ESP32-C6 dual-core architecture, responsible for flight control and light communication respectively. The drones include a telescopic suction arm for adhering to the glass curtain wall. Specifically, the telescopic suction arm uses an aviation aluminum alloy tube (outer diameter 12mm, wall thickness 1mm) as the rigid arm body, driven by a micro linear motor and a precision lead screw, with a stroke of 0-18cm and a full stroke extension time of ≤2 seconds. The end effector of the telescopic suction arm integrates a silicone adaptive sealing lip (60mm diameter), a miniature diaphragm vacuum pump (5V / 3W), a high-precision pressure sensor (range -100~0kPa), and an electromagnetic pressure relief valve. The telescopic suction arm extends symmetrically from both sides of the fuselage or from one side of the nose or tail, ensuring it can be completely retracted within the main fuselage profile during flight. Furthermore, the drone is powered by a 2S 1300mAh lithium polymer battery, supporting low-power operation by maintaining only the suction cups, controller, and LEDs during suction. The central control platform serves as the core hub for controlling the drone, and communication with it uses a Wi-Fi 6 primary link for large data transmission, while a 2.4GHz LoRa backup link ensures the reliability of control commands.

[0023] like Figure 1 As shown, a method for multi-drone collaborative glass curtain wall light show includes the following steps: S10-S40.

[0024] S10. Establish the performance coordinate system of the target glass curtain wall, and map the light show content to multiple target adsorption points and their corresponding light commands in the performance coordinate system.

[0025] like Figure 2 As shown, step S10 specifically includes the following steps: S110-S130.

[0026] S110. Obtain the three-dimensional geometric information of the target glass curtain wall and establish the performance coordinate system.

[0027] First, accurate 3D geometric information of the target glass curtain wall needs to be obtained. For example, the building facade can be scanned using a high-precision laser 3D scanner to obtain dense point cloud data; alternatively, the geometric model of the curtain wall surface can be directly extracted from the building's Building Information Model (BIM). Based on this information, a performance coordinate system is defined in the central control platform. A common definition is as follows: the origin is a fixed corner point on the curtain wall surface (e.g., the lower left corner); the positive X-axis is the direction horizontally to the right along the curtain wall; the positive Y-axis is the direction vertically upward along the curtain wall; and the positive Z-axis is the direction perpendicular to the curtain wall surface pointing outwards. This coordinate system will serve as the reference for all spatial calculations.

[0028] S120, Rasterize the light show content into a pixel matrix.

[0029] The designed light show content (which can be static patterns or dynamic animation sequences) is digitized and rasterized. For example, an animation is exported as a time-series of frame images. A resolution is determined based on the required display precision, which determines how many rows and columns of virtual grid the screen will be divided into. Each grid cell corresponds to a "pixel" in the performance.

[0030] S130. Map each pixel in the pixel matrix to the position of the glass curtain wall in the performance coordinate system to generate the target adsorption point.

[0031] Each pixel in each rasterized frame is mapped to a specific 3D coordinate in the performance coordinate system based on its row and column index. The mapping relationship is as follows: the pixel's (column number, row number) corresponds to the (X coordinate, Y coordinate) in the performance coordinate system, while the Z coordinate is fixed to the value of the plane where the curtain wall surface is located (e.g., Z=0). Each mapped point is a target snapping point. Simultaneously, the pixel's color value (RGB), brightness, and variation mode (e.g., constant light, blinking, breathing effect) are extracted and used as the lighting command associated with that target snapping point. Finally, for the entire performance, a task dataset is generated containing all time frames, all target snapping point coordinates, and their corresponding lighting commands.

[0032] Steps S110-S130 achieve a precise and lossless conversion from artistic design to engineering instructions, ensuring that the final visual effect presented on the massive physical facade is highly consistent with the original design intent, and providing a unique and definite spatial and state basis for subsequent high-precision collaborative control.

[0033] S20. Assign target adsorption points to all drones participating in the performance and plan their flight paths and adsorption sequences.

[0034] This step is the core of solving resource scheduling and conflict avoidance in multi-drone collaboration. Through centralized optimization calculation, a personalized action plan is formulated for each drone.

[0035] like Figure 3 As shown, step S20 specifically includes the following steps: S210-S240.

[0036] S210. Based on the initial position of each UAV, assign an initial target adsorption point to it.

[0037] The central control platform performs initial matching based on the initial positions of all standby drones (assuming M drones) (e.g., all within the takeoff and landing zone) and all target attraction points (N, M≤N) in the current performance frame. The objective is to minimize overall flight energy consumption or time. For example, the Hungarian algorithm can be used to solve this bipartite graph optimal matching problem, assigning an initial target attraction point to each drone.

[0038] S220 generates a collision-free flight path for each UAV from its initial position to a hovering position in front of its initial target adsorption point.

[0039] For each UAV, based on a known 3D environmental model, plan a collision-free 3D flight path from its current position to a pre-positioned hovering location in front of its assigned target adsorption point. This pre-position is set directly in front of the curtain wall surface at a certain distance (e.g., a few centimeters). The planning algorithm can be an A* algorithm or a Quick Random Tree Exploration (RRT) algorithm, etc., to search for an optimal or suboptimal path that avoids building protrusions (such as window frames and columns) and other static obstacles, while considering constraints such as UAV size and safety margins.

[0040] S230: Merge the flight paths and adsorption timing information of all UAVs to construct a spatiotemporal trajectory model and detect whether there are flight conflicts.

[0041] S240. If a flight conflict is detected, adjust the flight path and / or adsorption timing until the conflict is eliminated or the value is below the tolerance threshold.

[0042] For steps S230 and S240, the central control platform merges the preliminary paths of all UAVs obtained in the previous step with the estimated timelines (based on path length and average speed) to construct a four-dimensional spatiotemporal trajectory model (three-dimensional space + one-dimensional time). The system automatically detects two main types of conflicts in this model: Spatial conflict: Predict whether the spatial distance between any two drones at the same time is less than a set safe interval threshold (e.g., the drone's body volume is expanded by a certain margin). Resource competition conflict: Predict whether the number of drones attempting to perform adsorption operations on the same local area (e.g., a small area) on the curtain wall exceeds the physical capacity of that area within a certain time period.

[0043] Once a conflict is detected, the system initiates an optimization process to make adjustments, including but not limited to: Adjusting the adsorption timing (staggered peak strategy): Divide the curtain wall into multiple zones in the vertical and / or horizontal directions. For drones scheduled to fly to the same zone, force them to stagger their adsorption actions, i.e., control the time interval between the adsorption start of adjacent drones to be no less than a preset value (e.g., several seconds). This is achieved by adding a waiting time for some drones in the hovering preparation position; Modify flight path: For spatial path conflicts, a local detour path can be replanned for the relevant drones, such as temporarily increasing the flight altitude or shifting the horizontal direction. Task reassignment: Subject to the lighting effects, swapping the ownership of drones with adjacent or nearby target attachment points may fundamentally eliminate long-distance cross-flight.

[0044] This process is iterative until all conflicts are eliminated or reduced to an acceptable level of risk. Ultimately, a final mission package is generated for each drone, containing: precise target attach point coordinates, a detailed sequence of collision-free waypoints, the scheduled arrival time for each waypoint, the specified attach start time, and complete lighting instructions.

[0045] For steps S210-S240, through centralized optimization, the fine-grained arrangement of the operation of dozens or even hundreds of drones in complex vertical airspace was realized, and the risks of collisions and congestion were mitigated in advance, enabling large-scale fleets to complete high-density deployment efficiently and safely, just like a well-trained team.

[0046] S30: Control each UAV to fly to the target location according to the planned flight path and attach to the glass curtain wall, and report the ready status.

[0047] like Figure 4 As shown, step S30 specifically includes the following steps: S310-S340.

[0048] S310: Control the drone to fly and hover stably at a predetermined distance from the glass curtain wall.

[0049] The UAV takes off autonomously from the take-off and landing area and flies strictly according to the waypoint sequence and time requirements in the final mission package issued by the central control platform. When it arrives at the hovering preparation position in front of the target adsorption point, the UAV performs high-precision fixed-point hovering through its flight control system and actively adjusts and stabilizes its body attitude (pitch angle, roll angle) within a near-horizontal range to prepare for the subsequent adsorption operation.

[0050] S320: Control the drone's telescopic adsorption arm to extend horizontally until the adsorption device at its end approaches or contacts the glass curtain wall.

[0051] Upon a predetermined time or after receiving an instruction, the drone controller drives the telescopic suction arm to extend smoothly in a horizontal direction. When approaching a wall, it can switch to a force control or position hybrid control mode to ensure that the suction actuator (such as a suction cup) adheres to the glass surface with appropriate force, forming an initial seal and avoiding rigid impact.

[0052] S330: Activate the adsorption device to generate adsorption force and fix the drone to the glass curtain wall.

[0053] The adsorption actuator (suction cup) is activated. Simultaneously, the adsorption status is monitored in real time via sensors (such as pressure sensors). Stable adsorption is determined using a dual-condition system: first, the adsorption force (or negative pressure value) reaches a first threshold indicating sufficient adsorption force; second, within a preset time window after reaching the first threshold, the fluctuation range of the adsorption force is less than a second threshold, indicating a good seal and stable state. Only when both conditions are met simultaneously is the adsorption considered "stable."

[0054] For example, the negative pressure value inside the suction cup cavity reaches or exceeds -30 kPa, and within 1 second after reaching this negative pressure value, the negative pressure fluctuation does not exceed ±2 kPa (indicating stable sealing and no air leakage). Only when both conditions are met simultaneously is it determined to be "stable adsorption," that is, successful adsorption.

[0055] S340: After confirming that the adsorption is stable, turn off the drone's rotor power and switch to the low-power glass curtain wall performance standby mode.

[0056] Once a secure attachment is determined, the drone immediately shuts down its main rotor motors, relying solely on the suction force to stay fixed to the wall. The system switches to a low-power performance standby mode, maintaining only essential control, communication, and lighting circuitry. Subsequently, the drone sends "readiness status" feedback information to the central control platform via a wireless data link (such as Wi-Fi), typically including its own ID, actual attachment coordinates, current attachment status, and battery level.

[0057] Steps S310-S340 enable the drone to quickly, stably, and autonomously switch from flight mode to wall-attached mode. Shutting down the rotors significantly reduces power consumption, laying the foundation for ultra-long performance durations; the dual-condition adsorption determination significantly improves the reliability of successful adsorption.

[0058] S40. Once all drones participating in the performance are ready, trigger them to execute lighting commands synchronously.

[0059] The central control platform monitors the status feedback of all drones in real time. When it is confirmed that all drones participating in the current frame performance have reported a "ready status" or have reached a preset ready percentage threshold, the platform broadcasts a global synchronization trigger command to the entire drone swarm at a predetermined precise time (based on a high-precision network time protocol, such as PTP).

[0060] Upon receiving the synchronization command, all drones immediately control their onboard LED lighting modules to illuminate, change color, or perform dynamic effects according to the pre-stored lighting instructions in their mission packages. Because all drones are firmly attached to the wall, the inherent attitude jitter of the aircraft is completely eliminated, thus enabling the presentation of extremely stable and clear static or dynamic lighting images, achieving high-resolution pixelated display on the wall.

[0061] Through precise synchronization of central commands, hundreds or thousands of scattered aerial pixels were made to move in unison in an instant, forming a complete, coherent, and delay-free visual art effect on a macro scale, achieving a grand performance scene that a single drone could not achieve.

[0062] like Figure 5 As shown, step S40 is followed by the following steps: S50-S70.

[0063] S50 After the light show ends, send a detach command to each drone. The detach command can be triggered uniformly or in group order.

[0064] After the performance, the central control platform, based on a pre-set plan, decides whether to use unified triggering (suitable for small curtain walls and low-density clusters) or group triggering (suitable for large curtain walls and high-density clusters) to send detachment commands to the drones. Grouping is usually based on wall space partitioning (such as by floor, column, or pixel block), and each group contains several adjacent drones.

[0065] If a unified trigger is used, the central control platform broadcasts a "start unattachment" command at the global synchronization time point, and all ready drones start the unattachment process at the same time.

[0066] If group triggering is used, the central control platform sends desorption commands to each group in a predetermined order, with a time interval of 2-5 seconds between groups to avoid superimposed airflow interference.

[0067] The detach command is encrypted and sent to the target drone via the main Wi-Fi 6 link, requiring the receiver to return an acknowledgment signal within 200 milliseconds. If no acknowledgment is received, the command is retransmitted via the LoRa backup link.

[0068] S60: When the drone receives the de-adhesion command, it releases the adsorption force, activates part of the rotor to provide thrust away from the wall, and retracts the telescopic adsorption arm.

[0069] Upon receiving a valid command, each UAV immediately executes a standardized local desorption procedure. Specifically, it first opens the electromagnetic pressure relief valve to connect the suction cup cavity to the atmosphere. The system continuously monitors the negative pressure value until it rises to above -5 kPa (close to atmospheric pressure) to ensure complete release of the suction force. Simultaneously with the pressure relief, the control system pre-starts a pair of diagonal rotors (e.g., front left and rear right) at the lowest possible speed, generating a weak but clearly directional thrust to prevent the suction cup from remaining due to residual adhesion or surface tension. A synchronously driven linear motor then retracts the rigid telescopic arm completely into the fuselage profile within one second, avoiding structural interference or sudden changes in wind resistance caused by flying in the extended state.

[0070] S70. After the telescopic suction arm is fully retracted, start all rotors and fly back to the take-off and landing area according to the preset return path.

[0071] After the telescopic boom is fully retracted, the quadcopter starts at full power and performs a standard backward maneuver: moving at least 1 meter away from the wall along the normal direction, entering free airspace, and then flying back to the take-off and landing area according to the preset return path. During this process, spatial reservation (dividing the decoupling area to avoid interference from the airflow during simultaneous decoupling) and dynamic avoidance (real-time collision avoidance based on inter-aircraft ranging) strategies can be used to ensure that the evacuation process is orderly and without collision risk.

[0072] The space reservation strategy divides the curtain wall into several fixed detachment space units (e.g., each unit is a 2m x 2m wall area), and only one drone is allowed to perform a detachment operation in each unit at any given time. In practical application, the central control platform maintains a detachment space occupancy table, recording the current status of each unit (idle / occupied / reserved). Before detaching, the drone must apply to the central control platform for detachment permission for its unit. The central control platform only approves the request when the unit is idle and marks it as occupied, continuing until the drone completes its detachment and retreats. Other drones in the same unit must queue up, forming an orderly detachment queue.

[0073] The space reservation strategy can fundamentally eliminate airflow turbulence caused by multiple aircraft detaching simultaneously in a local area.

[0074] The dynamic obstacle avoidance strategy monitors the movement of surrounding drones in real time during the detachment and return-to-home phases. If a potential collision risk is predicted, the drone automatically adjusts its trajectory. In practical applications, each drone continuously acquires the position and velocity of neighboring drones (within a 3-meter radius) via UWB or visual ranging. The local obstacle avoidance module runs a lightweight collision prediction algorithm (such as VelocityObstacle based on speed obstacle avoidance). If an approach of less than 1 meter is detected within the next second, an automatic avoidance maneuver is executed: priority is given to vertical (ascending or descending) deviation; secondary choice is horizontal lateral detour; and the avoidance event is simultaneously reported to the central control platform for global recording.

[0075] The dynamic avoidance strategy, as a supplement to space reservation, can cope with sudden anomalies (such as delayed de-attachment of an aircraft, wind disturbance deviation, etc.) and improve the robustness of the system.

[0076] In summary: By introducing a telescopic adsorption arm, drones can quickly and stably attach to vertical glass curtain walls in a horizontal posture, and shut off their rotors after attachment, thereby reducing power consumption to an extremely low level and significantly improving energy efficiency and performance endurance. By establishing a unified performance coordinate system and precisely mapping the lighting content to target attachment points on the wall, combined with global conflict detection and optimized path and timing planning, multiple drones can be deployed and performed synchronously on the wall in an orderly and collision-free manner. This enables the creation of high-resolution, highly stable static or dynamic lighting images, completely eliminating the jitter problem caused by hovering in mid-air. Overall, through the deep integration of drones and glass curtain walls, the technical challenge of existing technologies not supporting multi-drone collaborative pixelated wall performances has been solved.

[0077] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0078] This invention also provides a multi-drone collaborative glass curtain wall light show device, which is used to perform the steps in any of the aforementioned embodiments of the multi-drone collaborative glass curtain wall light show method. Specifically, please refer to... Figure 6 , Figure 6 A schematic block diagram of a multi-drone collaborative glass curtain wall light show device 100 provided in an embodiment of this application is shown. The multi-drone collaborative glass curtain wall light show device 100 specifically includes: Establishment unit 110 is used to establish the performance coordinate system of the target glass curtain wall and map the light show content to multiple target adsorption points and their corresponding light commands in the performance coordinate system; allocation unit 120 is used to allocate target adsorption points to all drones participating in the performance and plan the flight path and adsorption sequence; control feedback unit 130 is used to control each drone to fly to the target position and adsorb onto the glass curtain wall according to the planned flight path and to report the ready status; trigger unit 140 is used to trigger all drones participating in the performance to synchronously execute the light commands after they are ready.

[0079] In some embodiments, the establishment unit 110 is specifically used to: acquire the three-dimensional geometric information of the target glass curtain wall and establish a performance coordinate system; rasterize the light show content into a pixel matrix; and map each pixel in the pixel matrix to the position of the glass curtain wall in the performance coordinate system to generate a target adsorption point.

[0080] In some embodiments, the allocation unit 120 is specifically configured to: allocate an initial target adsorption point to each UAV based on its initial position; generate a collision-free flight path for each UAV from its initial position to a hovering position in front of its initial target adsorption point; merge the flight paths of all UAVs with the adsorption timing information to construct a spatiotemporal trajectory model and detect whether there is a flight conflict; if a flight conflict is detected, adjust the flight path and / or adsorption timing until the conflict is eliminated or falls below the tolerance threshold.

[0081] In some embodiments, the control feedback unit 130 is specifically used to: control the drone to fly and hover stably at a preparatory position at a predetermined distance from the glass curtain wall; control the drone's telescopic adsorption arm to extend horizontally until the adsorption device at its end approaches or contacts the glass curtain wall; activate the adsorption device to generate adsorption force to fix the drone to the glass curtain wall; after confirming that the adsorption is stable, turn off the drone's rotor power and switch to a low-power glass curtain wall performance standby mode.

[0082] In some embodiments, the multi-drone collaborative glass curtain wall light show device 100 is also specifically used for: sending a detachment command to each drone after the light show ends, wherein the detachment command is triggered uniformly or in a group sequence; when the drone receives the detachment command, it releases the adsorption force, starts some rotors to provide thrust away from the wall, and retracts the telescopic adsorption arm; when the telescopic adsorption arm is fully retracted, it starts all rotors and flies back to the take-off and landing area according to a preset return path.

[0083] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned multi-drone collaborative glass curtain wall light show device 100 and each unit can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0084] The aforementioned multi-drone collaborative glass curtain wall light show device can be implemented in the form of a computer program, which can be used in, for example... Figure 7 It runs on the computer device shown.

[0085] Please see Figure 7 , Figure 7 This is a schematic block diagram of a computer device provided in an embodiment of this application. The computer device 700 can be a server, wherein the server can be a standalone server or a server cluster composed of multiple servers.

[0086] like Figure 7 As shown, the computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the multi-drone collaborative glass curtain wall light show method described above.

[0087] The computer device 700 includes a processor 720, a memory, and a network interface 750 connected via a system bus 710, wherein the memory may include a non-volatile storage medium 730 and internal memory 740.

[0088] The non-volatile storage medium 730 can store an operating system 731 and a computer program 732. When the computer program 732 is executed, it enables the processor 720 to perform a multi-drone collaborative glass curtain wall light show method.

[0089] The processor 720 provides computing and control capabilities to support the operation of the entire computer device 700.

[0090] The internal memory 740 provides an environment for the operation of the computer program 732 in the non-volatile storage medium 730. When the computer program 732 is executed by the processor 720, the processor 720 can execute a method for multi-drone collaborative glass curtain wall light show.

[0091] This network interface 750 is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 700 to which the present application is applied. The specific computer device 700 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements. The processor 720 is used to run program code stored in memory to implement a multi-drone collaborative glass curtain wall light show method.

[0092] Those skilled in the art will understand that Figure 7The embodiments of the computer device shown do not constitute a limitation on the specific configuration of the computer device. In other embodiments, the computer device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. For example, in some embodiments, the computer device may include only memory and a processor. In such embodiments, the structure and function of the memory and processor are different from those shown. Figure 7 The embodiments shown are consistent and will not be described again here.

[0093] It should be understood that in the embodiments of this application, the processor 720 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0094] In another embodiment of the present invention, a computer-readable storage medium is provided. This computer-readable storage medium may be a non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when executed by a processor, the computer program implements the multi-drone collaborative glass curtain wall light show method for drones disclosed in this embodiment of the present invention.

[0095] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0096] In the embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Units with the same function may be grouped into one unit. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, or may be electrical, mechanical, or other forms of connection.

[0097] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0098] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0099] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks.

[0100] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for multi-drone collaborative light show on a glass curtain wall, characterized in that, The drone includes a telescopic suction arm for adhering to a glass curtain wall, and the method includes: Establish a performance coordinate system for the target glass curtain wall, and map the light show content to multiple target adsorption points and their corresponding lighting commands in the performance coordinate system; Assign target adsorption points to all drones participating in the performance, and plan their flight paths and adsorption timing. Control each drone to fly to the target location according to the planned flight path and attach to the glass curtain wall, and report the ready status; Once all the drones participating in the performance are ready, they are triggered to execute lighting commands in sync.

2. The method for multi-drone collaborative glass curtain wall light show according to claim 1, characterized in that, The process of establishing a performance coordinate system for the target glass curtain wall and mapping the light show content to multiple target adsorption points and their corresponding lighting commands in the performance coordinate system includes: Obtain the three-dimensional geometric information of the target glass curtain wall and establish a performance coordinate system; Rasterize the light show content into a pixel matrix; Each pixel in the pixel matrix is ​​mapped to the position of the glass curtain wall in the performance coordinate system to generate the target adsorption point.

3. The method for multi-drone collaborative glass curtain wall light show according to claim 1, characterized in that, The process of assigning target attachment points to all participating drones and planning flight paths and attachment sequences includes: Based on the initial position of each UAV, an initial target adsorption point is assigned to it; Generate a collision-free flight path for each UAV from its initial position to its hovering position in front of its initial target adsorption point; The flight paths of all drones are combined with the adsorption time sequence information to construct a spatiotemporal trajectory model and detect whether there are flight conflicts. If a flight conflict is detected, the flight path and / or adsorption timing are adjusted until the conflict is eliminated or the value is below the tolerance threshold.

4. The method for multi-drone collaborative glass curtain wall light show according to claim 3, characterized in that, If a flight conflict is detected, the flight path and / or adsorption timing are adjusted until the conflict is eliminated or the value falls below the tolerance threshold. Specifically, adjusting the flight adsorption timing involves: Divide the wall into multiple areas; The time interval between the adsorption actions of adjacent drones in the same area shall not be less than a preset value.

5. The method for multi-drone collaborative glass curtain wall light show according to claim 1, characterized in that, The process of controlling each UAV to fly to the target location according to the planned flight path and attach to the glass curtain wall, and then reporting its readiness status, includes: Control the drone to fly and hover stably at a predetermined distance from the glass curtain wall; Control the drone's telescopic suction arm to extend horizontally until the suction device at its end approaches or contacts the glass curtain wall. Activate the adsorption device to generate adsorption force and fix the drone to the glass curtain wall; After confirming that the attachment is secure, turn off the drone's rotor power and switch to the low-power glass curtain wall performance standby mode.

6. A method for multi-drone collaborative glass curtain wall light show according to claim 5, characterized in that, After confirming stable adhesion, the drone's rotor power is turned off, and it switches to a low-power glass curtain wall performance standby mode. The conditions for confirming stable adhesion are as follows: The adsorption force generated by the adsorption device reaches the first threshold, and the fluctuation range is less than the second threshold within a preset time after reaching the first threshold.

7. A method for multi-drone collaborative glass curtain wall light show according to any one of claims 1-6, characterized in that, After all the drones participating in the performance are ready, triggering them to synchronously execute the light commands also includes: After the light show ends, a detachment command is sent to each drone. The detachment command can be triggered uniformly or in a grouped order. When the drone receives the de-adhesion command, it releases the adsorption force, activates part of the rotor to provide thrust away from the wall, and retracts the telescopic adsorption arm. Once the telescopic suction arm is fully retracted, all rotors are activated and the aircraft flies back to the takeoff and landing area along the preset return path.

8. A multi-drone collaborative glass curtain wall light show device, characterized in that, The drone includes a telescopic suction arm for attaching to a glass curtain wall, and the device includes: Establish a unit to create a performance coordinate system for the target glass curtain wall and map the light show content to multiple target adsorption points and their corresponding light commands in the performance coordinate system; The allocation unit is used to assign target adsorption points to all drones participating in the performance and to plan flight paths and adsorption sequences. The control feedback unit is used to control each UAV to fly to the target location according to the planned flight path and attach to the glass curtain wall, and to provide feedback on the ready status. The triggering unit is used to trigger all drones participating in the performance to execute lighting commands synchronously once they are ready.

9. A computer device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a method for multi-drone collaborative glass curtain wall light show as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the processor performs a multi-drone collaborative glass curtain wall light show method as described in any one of claims 1 to 7.

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