System and control method of air programmable light-emitting array based on collaborative magnetic suspension

Abstract

The invention discloses an air programmable light-emitting array system based on collaborative magnetic suspension and a control method, and the system comprises a light-emitting unit array which comprises a plurality of independently suspended light-emitting units, and a central controller which is used for receiving real-time motion parameters of the light-emitting units, target space coordinates and operation states of all the light-emitting units are calculated in real time according to preset patterns, and motion control signals and motion state signals are generated; the acousto-optic physical model mapping engine is used for receiving the motion state signal and generating a sound effect instruction and a light animation instruction which are matched according to a physical process of a preset pattern; the electromagnetic array is used for generating a dynamic magnetic field according to a motion control signal so as to drive the light-emitting unit to suspend and move in a three-dimensional space; and the sound effect system comprises a directional sound box array and is used for receiving the sound effect instruction and playing the spatialized sound effect. According to the invention, through a collaborative magnetic suspension technology and an intelligent control algorithm, three-dimensional dynamic display and acousto-optic synchronization effects of the light-emitting unit array in the air are realized.

Description

Technical Field

[0001] This invention relates to the field of multi-object cooperative control technology, and more specifically to a system and control method for an aerial programmable light-emitting array based on cooperative magnetic levitation. Background Technology

[0002] Currently, electronic fireworks or light show systems mainly adopt the following technical solutions: First, fixed LED displays, which use planar LED arrays to display dynamic patterns, but cannot simulate the three-dimensional levitation effect of real fireworks and lacks a sense of spatial layering; Second, drone light shows, which use drone formations to form dynamic patterns in the air, but suffer from problems such as high noise, short battery life, and weak wind resistance, and cannot achieve high-precision coordinated levitation; Third, traditional magnetic levitation technology, which is mainly used for the levitation of single objects (such as magnetic levitation light bulbs and display stands), but it is difficult to achieve multi-unit coordinated control, and the magnetic field interference is serious, making it unsuitable for large-scale dynamic light arrays.

[0003] In terms of the main processes and methods of existing technologies, LED displays form dynamic patterns by controlling the on and off of LEDs through computer programming, but are limited by flat display; drone light shows rely on GPS / RTK positioning and flight control algorithms to achieve formation flight, but are greatly affected by weather and electromagnetic interference; magnetic levitation applications usually use electromagnets or permanent magnets to achieve single-point levitation, lacking a multi-target collaborative control mechanism.

[0004] The existing technologies have significant problems and shortcomings. First, they lack a three-dimensional levitation effect. Traditional LED screens or projection technologies cannot simulate the dynamic effect of fireworks freely levitating and blooming in the air, only providing a 2D visual effect, resulting in a poor user experience. From a software perspective, existing control systems are mainly optimized for planar displays and lack a 3D spatial physics engine, making it impossible to calculate the spatial positional relationships of multiple levitation units. Second, multi-unit collaborative control is difficult. Although drone formations can achieve dynamic patterns in the air, they are limited by battery life and wind resistance, and cannot achieve millimeter-level precise positioning. Traditional magnetic levitation technology is only suitable for single objects, and magnetic field interference between multiple magnetic levitation units can lead to control instability. In terms of software, existing magnetic levitation control algorithms are mostly single-objective PID control, lacking multi-agent collaborative optimization algorithms, and cannot achieve synchronous control of large-scale arrays. Third, there is insufficient synchronization between sound and light. Existing electronic fireworks systems typically use pre-recorded sounds or simple sound effects, which cannot adjust the sound effects in real time according to the light animation (such as the direction and attenuation of the explosion sound). From a software perspective, there is a lack of a sound-light physical model mapping engine, making it impossible to achieve dynamic sound effect matching based on the physical processes of fireworks (ascent, explosion, dissipation). Fourth, there is a lack of wind resistance and safe recovery mechanisms. Drones or traditional levitation devices are easily affected by wind outdoors, lacking adaptive adjustment strategies, and the recovery methods are limited (such as parachutes or manual recovery), posing safety hazards. In terms of software, existing systems do not integrate wind speed sensing and dynamic levitation height adjustment algorithms, making it impossible to achieve intelligent wind resistance control.

[0005] In summary, the main problems of existing technologies are concentrated in the following aspects: insufficient three-dimensional levitation capability, difficulty in multi-unit collaborative control, poor acoustic-optical synchronization, and weak wind resistance stability. The root cause lies in hardware limitations (such as drone endurance and magnetic levitation interference) and insufficient software algorithms (such as the lack of 3D physics engine, multi-agent collaborative control, and acoustic-optical dynamic mapping model). Summary of the Invention

[0006] The purpose of this invention is to provide a system and control method for an aerial programmable light-emitting array based on cooperative magnetic levitation. Through cooperative magnetic levitation technology and intelligent control algorithms, the system achieves a three-dimensional dynamic display and audio-visual synchronization effect of the aerial light-emitting unit array.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A system based on a programmable aerial light-emitting array with cooperative magnetic levitation, comprising: The light-emitting unit array includes multiple independently suspended light-emitting units, each of which includes: a permanent magnet, an RGBW LED module, and a control circuit with an integrated inertial sensor; The central controller integrates a collaborative magnetic levitation control algorithm, which is used to receive the real-time motion parameters of the corresponding light-emitting units fed back by each inertial sensor, and calculate the target spatial coordinates and running status of each light-emitting unit in real time according to the preset pattern, and generate motion control signals and motion status signals. The sound and light physics model mapping engine is used to receive motion state signals and generate matching sound effect commands and light animation commands according to the physical process of the preset pattern. The electromagnetic array includes multiple independently controlled electromagnetic coils, which are used to generate a dynamic magnetic field according to the motion control signal to drive the light-emitting unit to levitate and move in three-dimensional space. The light-emitting unit is used to control the light-emitting state of the RGBW LED module according to the light animation instructions; The sound system includes a directional speaker array for receiving sound effect commands and playing spatialized sound effects.

[0008] Furthermore, the step of calculating the target spatial coordinates of each light-emitting unit in real time according to the preset pattern specifically involves: Receive real-time attitude data of the light-emitting unit from the inertial sensor; By using a collaborative magnetic levitation control algorithm to dynamically adjust the current value of each electromagnetic coil in the electromagnetic array, the magnetic field interference between multiple electromagnetic coils can be canceled, thereby achieving millimeter-level positioning accuracy of the light-emitting unit.

[0009] Furthermore, the light-emitting unit also integrates a wind speed sensor; The collaborative magnetic levitation control algorithm includes: The dynamic trajectory planning module is used to generate motion paths that simulate the process of fireworks rising, blooming, and dissipating. The magnetic field interference compensation module is used to calculate and cancel the magnetic field coupling effect between adjacent light-emitting units in real time. The wind-resistant control module is used to dynamically adjust the levitation height of the light-emitting unit array or switch to a safe mode based on the data fed back by the wind speed sensor.

[0010] Furthermore, the permanent magnet is specifically a ring-shaped iron boron magnet with a magnetic energy product ≥35MGOe, and the bottom ring layout of the permanent magnet matches the magnetic field gradient of the electromagnetic array.

[0011] Furthermore, the real-time motion parameters of the light-emitting unit include: the position and velocity of the light-emitting unit; The physical process of the preset pattern includes: the trajectory of the preset pattern, the explosion pattern, and the sound effect attenuation.

[0012] Furthermore, the system also includes a multi-mode safe recycling mechanism; The multi-mode safe recovery mechanism includes: magnetic levitation slow descent mode, rotor-assisted landing mode, and balloon-traction recovery mode; The magnetic levitation descent mode is specifically as follows: By linearly attenuating the current of the electromagnetic array, the smooth magnetic levitation and slow descent of the light-emitting unit can be achieved. The rotor-assisted landing mode is specifically as follows: The built-in micro tail fin of the light-emitting unit is triggered to achieve rotor-assisted landing mode; The balloon traction and recovery mode is specifically as follows: Release the inflatable balloon to pull the light-emitting unit to the ground to achieve the balloon traction and recovery mode.

[0013] The present invention also provides a control method for realizing the washing of an aerial programmable light-emitting array based on cooperative magnetic levitation, comprising the following steps: S1. A light-emitting unit array is set up, the light-emitting unit array includes multiple independently suspended light-emitting units, each light-emitting unit includes: a permanent magnet, an RGBW LED module and a control circuit with an integrated inertial sensor; S2. Using the central controller, receive the real-time motion parameters of the corresponding light-emitting units fed back by each inertial sensor, and calculate the target spatial coordinates and running status of each light-emitting unit in real time according to the preset pattern, and generate motion control signals and motion status signals. S3. Utilize the sound and light physical model mapping engine to receive motion state signals and generate matching sound effect commands and light animation commands based on the physical process of the preset pattern. S4. The electromagnetic array generates a dynamic magnetic field according to the motion control signal to drive the light-emitting unit to levitate and move in three-dimensional space; S5. The light-emitting unit controls the light-emitting state of the RGBW LED module according to the light animation instructions; the sound system receives sound effect instructions and plays spatial sound effects.

[0014] According to specific embodiments provided by the present invention, the present invention has the following technical effects compared to the prior art: This invention achieves precise spatial positioning and dynamic driving of each light-emitting unit through an electromagnetic array, combined with intelligent calculation of target coordinates and operating status by a central controller based on real-time motion parameters. This endows the light-emitting units with highly free and precisely controllable levitation motion capabilities in three-dimensional space, enabling them to present complex and varied three-dimensional dynamic patterns, breaking through the limitations of traditional planar or fixed-space displays. The feedback mechanism of integrated inertial sensors ensures the real-time and accurate motion control, making the dynamic response of the light-emitting units rapid and synchronous. The innovative application of the sound-light physical model mapping engine can deeply correlate the motion state signals of the light-emitting units with the physical processes of preset patterns, generating precisely matched lighting animations and spatialized sound effects in real time. This achieves perfect synchronization and multi-dimensional fusion of visual dynamics and auditory effects, greatly enhancing the realism, impact, and artistic expression of the content. Attached Figure Description

[0015] 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] The system and control method of the present invention based on cooperative magnetic levitation for an aerial programmable light-emitting array will be further described below with reference to the accompanying drawings; Figure 1 This is a schematic diagram of the system of an aerial programmable light-emitting array based on cooperative magnetic levitation provided by the present invention. Detailed Implementation

[0017] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0018] To better understand the purpose, structure, and function of this invention, the invention will be described in further detail below with reference to the accompanying drawings.

[0019] Example 1 like Figure 1 As shown, this invention provides an aerial programmable light-emitting array system based on cooperative magnetic levitation, including: initial levitation, dynamic pattern generation, acoustic-optical synchronization, and recovery. (1) Initialize levitation: The light-emitting unit array includes multiple independently suspended light-emitting units, each of which includes: a permanent magnet, an RGBW LED module, and a control circuit with an integrated inertial sensor; In this embodiment, the light-emitting unit array (cylindrical PC material (diameter 3cm, height 2cm, weight 8g)) includes multiple independently suspended light-emitting units; each light-emitting unit includes: a permanent magnet, an RGBW LED module (brightness ≥1000 lumens), and a control circuit (integrated STM32 microcontroller + MPU6050) for an integrated inertial sensor (6-axis IMU, with a 2-pin interface (power supply + data) reserved at the bottom of the inertial sensor); wherein the permanent magnet of the light-emitting unit is a toroidal iron boron magnet with a magnetic energy product ≥35MGOe, and the bottom ring layout matches the magnetic field gradient of the electromagnetic array.

[0020] The real-time motion parameters of the light-emitting unit include: the position and velocity of the light-emitting unit; The physical process of the preset pattern includes: the trajectory of the preset pattern, the explosion pattern, and the sound effect attenuation.

[0021] The central controller sends motion control signals, and the electromagnetic array is energized to generate an initial magnetic field (coil 1-4 current 1.2A, coil 5-8 current 0.8A). The light-emitting unit obtains power through wires, the LED is activated, and the IMU provides feedback on the initial attitude (pitch angle within ±1°).

[0022] In this embodiment, the electromagnetic array (composed of 4×4 electromagnetic coils (a square array with a side length of 1m), each coil with a diameter of 20cm and a rated current of 5A; driving circuit: H-bridge driving module (supporting PWM current regulation)) includes multiple independently controlled electromagnetic coils, which are used to generate a dynamic magnetic field according to the control signal to drive the light-emitting unit to levitate and move in three-dimensional space.

[0023] (2) Dynamic pattern generation Target effect: To simulate "chrysanthemum" fireworks blooming outwards from the center.

[0024] The control logic for dynamic pattern generation is as follows: (a) The central controller calculates the motion trajectory of the unit (the central unit rises vertically by 1m, and the outer units unfold along a circle with a radius of 0.5m). (b) Dynamically adjust the electromagnetic coil current (e.g., coil 1 current from 1.2A → 0.5A, coil 9 current from 0A → 2A). (c) The central controller provides feedback data every 50ms, and the PID algorithm corrects the position error (within ±2mm).

[0025] Specifically, in this embodiment, the central controller (hardware: Raspberry Pi CM4 core board; software: running ROS 2 system) integrates a collaborative magnetic levitation control algorithm (Python / C++), which is used to receive the real-time motion parameters of the corresponding light-emitting units fed back by each inertial sensor, and calculate the target spatial coordinates and running status of each light-emitting unit in real time according to the preset pattern, and generate motion control signals and motion status signals. Specifically, the target spatial coordinates of each luminous unit are calculated in real time according to the preset pattern. Receive real-time attitude data of the light-emitting unit from the inertial sensor; By using a collaborative magnetic levitation control algorithm to dynamically adjust the current value of each electromagnetic coil in the electromagnetic array, the magnetic field interference between multiple electromagnetic coils can be canceled, thereby achieving millimeter-level positioning accuracy of the light-emitting unit.

[0026] The sound and light physics model mapping engine is used to receive motion state signals and generate matching sound effect commands and light animation commands based on the physical process of preset patterns.

[0027] The light-emitting unit also integrates a wind speed sensor; The collaborative magnetic levitation control algorithm includes: The dynamic trajectory planning module is used to generate motion paths that simulate the process of fireworks rising, blooming, and dissipating. The magnetic field interference compensation module is used to calculate and cancel the magnetic field coupling effect between adjacent light-emitting units in real time. The wind-resistant control module is used to dynamically adjust the levitation height of the light-emitting unit array or switch to a safe mode based on the data fed back by the wind speed sensor.

[0028] This embodiment addresses the problems of traditional drone light shows relying on GPS / RTK positioning, being susceptible to weather and electromagnetic interference, and struggling to achieve millimeter-level high-precision collaborative control. It also addresses the issues of traditional magnetic levitation technology being only applicable to single objects, with magnetic fields interfering with each other between multiple levitation units, leading to system instability. This invention proposes a collaborative magnetic levitation control algorithm among multiple light-emitting units. By dynamically adjusting the current in each coil of the electromagnetic array, it cancels out magnetic field interference between multiple light-emitting units. Combined with inertial sensor feedback, it achieves high-precision (millimeter-level) levitation positioning and attitude adjustment.

[0029] In summary, this invention, through hardware innovation (magnetic levitation array, composite wire bundle) and software breakthroughs (cooperative control algorithm, sound and light physics engine), systematically solves the core pain points of existing electronic fireworks technology in terms of three-dimensional performance, cooperative control, sound and light synchronization, safety and stability, and user interaction, and achieves a more realistic, flexible, and reliable environmentally friendly alternative to fireworks.

[0030] (3) Sound and light synchronization: Lighting effect: The LEDs gradually brighten (white → yellow) as the light-emitting unit rises, and switch to red pulses (frequency 5Hz) when it blooms.

[0031] Directional speaker array: The speakers play matching "ascent and whistling" sounds and "explosion" sounds, and the sound image moves dynamically with the position of the unit.

[0032] The light-emitting unit is used to control the light-emitting state of the RGBW LED module according to the light animation instructions; The sound system includes a directional speaker array for receiving sound effect commands and playing spatialized sound effects.

[0033] In this embodiment, the sound effect system includes: a directional speaker array (4 directional speakers (arranged at the four corners of the array), supporting Bluetooth 5.0 to receive control signals), used to receive sound effect commands and play spatial sound effects.

[0034] In this embodiment, traditional LED displays or projection technologies can only provide planar dynamic patterns and cannot simulate the three-dimensional effect of real fireworks suspending and blooming in the air, resulting in a poor user experience. This invention employs a collaborative magnetic levitation light-emitting unit array, using an electromagnetic array to control the suspension and dynamic distribution of multiple light-emitting units in three-dimensional space, achieving a realistic three-dimensional fireworks effect.

[0035] (4) Recycling This invention also includes a multi-mode safe recycling mechanism; The multi-mode safe recovery mechanism includes: magnetic levitation slow descent mode, rotor-assisted landing mode, and balloon-traction recovery mode; The magnetic levitation descent mode is specifically as follows: By linearly attenuating the current of the electromagnetic array, the smooth magnetic levitation and slow descent of the light-emitting unit can be achieved. The rotor-assisted landing mode is specifically as follows: The built-in micro tail fin of the light-emitting unit is triggered to achieve rotor-assisted landing mode; The balloon traction and recovery mode is specifically as follows: Release the inflatable balloon to pull the light-emitting unit to the ground to achieve the balloon traction and recovery mode.

[0036] In this embodiment, the existing technologies address the problems of drones or traditional levitation devices being susceptible to wind damage outdoors, lacking adaptive adjustment strategies, and existing recovery methods (such as parachutes and manual recovery) being inefficient and posing safety hazards. This invention designs an active wind-resistant control system that dynamically adjusts the levitation height or switches to a safe mode based on wind speed sensor data, and provides multi-mode recovery mechanisms (such as magnetic levitation descent, controlled rotor landing, and balloon-assisted recovery) to ensure safe equipment recovery.

[0037] Example 2 The present invention also provides a method for implementing the airborne programmable light-emitting array system based on cooperative magnetic levitation in Embodiment 1, comprising the following steps: S1. A light-emitting unit array is set up, the light-emitting unit array includes multiple independently suspended light-emitting units, each light-emitting unit includes: a permanent magnet, an RGBW LED module and a control circuit with an integrated inertial sensor; S2. Using the central controller, receive the real-time motion parameters of the corresponding light-emitting units fed back by each inertial sensor, and calculate the target spatial coordinates and running status of each light-emitting unit in real time according to the preset pattern, and generate motion control signals and motion status signals. S3. Utilize the sound and light physical model mapping engine to receive motion state signals and generate matching sound effect commands and light animation commands based on the physical process of the preset pattern. S4. The electromagnetic array generates a dynamic magnetic field according to the motion control signal to drive the light-emitting unit to levitate and move in three-dimensional space; S5. The light-emitting unit controls the light-emitting state of the RGBW LED module according to the light animation instructions; the sound system receives sound effect instructions and plays spatial sound effects.

[0038] In terms of safety mechanisms, the system is designed with a linear magnetic field strength decay mode, which can reduce the magnetic field strength to 10% within 2 seconds, ensuring that all light-emitting units descend smoothly and slowly to the surface of the electromagnetic array, effectively preventing accidental falls. Key performance parameters are all supported by measured data. Under a test wind speed of 3m / s, the standard deviation of the suspension position of the 20 light-emitting units can be controlled within ≤3mm, demonstrating extremely high positioning accuracy and stability. The operating power of the entire system (including the electromagnetic array, controller, and sound effects) is effectively controlled at ≤200W, achieving excellent energy efficiency. At the same time, the system has strong environmental adaptability. Under the condition of level 5 wind (wind speed 10.7m / s), the maximum offset of each light-emitting unit can still be maintained within ≤5cm, ensuring reliable operation and display effects in complex outdoor environments.

[0039] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A system for a programmable aerial light-emitting array based on cooperative magnetic levitation, characterized in that, include: The light-emitting unit array includes multiple independently suspended light-emitting units, each of which includes: a permanent magnet, an RGBWLED module, and a control circuit with an integrated inertial sensor; The central controller integrates a collaborative magnetic levitation control algorithm, which is used to receive the real-time motion parameters of the corresponding light-emitting units fed back by each inertial sensor, and calculate the target spatial coordinates and running status of each light-emitting unit in real time according to the preset pattern, and generate motion control signals and motion status signals. The sound and light physics model mapping engine is used to receive motion state signals and generate matching sound effect commands and light animation commands according to the physical process of the preset pattern. The electromagnetic array includes multiple independently controlled electromagnetic coils, which are used to generate a dynamic magnetic field according to the motion control signal to drive the light-emitting unit to levitate and move in three-dimensional space. The light-emitting unit is used to control the light-emitting state of the RGBW LED module according to the light animation instructions; The sound system includes a directional speaker array for receiving sound effect commands and playing spatialized sound effects.

2. The system of aerial programmable light-emitting array based on cooperative magnetic levitation according to claim 1, characterized in that, The step of calculating the target spatial coordinates of each light-emitting unit in real time according to the preset pattern is as follows: Receive real-time attitude data of the light-emitting unit from the inertial sensor; By using a collaborative magnetic levitation control algorithm to dynamically adjust the current value of each electromagnetic coil in the electromagnetic array, the magnetic field interference between multiple electromagnetic coils can be canceled, thereby achieving millimeter-level positioning accuracy of the light-emitting unit.

3. The system of an aerial programmable light-emitting array based on cooperative magnetic levitation according to claim 1, characterized in that, The light-emitting unit also integrates a wind speed sensor; The collaborative magnetic levitation control algorithm includes: The dynamic trajectory planning module is used to generate motion paths that simulate the process of fireworks rising, blooming, and dissipating. The magnetic field interference compensation module is used to calculate and cancel the magnetic field coupling effect between adjacent light-emitting units in real time. The wind-resistant control module is used to dynamically adjust the levitation height of the light-emitting unit array or switch to a safe mode based on the data fed back by the wind speed sensor.

4. The system of an aerial programmable light-emitting array based on cooperative magnetic levitation according to claim 1, characterized in that, The permanent magnet is specifically a ring-shaped iron boron magnet with a magnetic energy product ≥35MGOe, and the bottom ring layout of the permanent magnet matches the magnetic field gradient of the electromagnetic array.

5. The system of an aerial programmable light-emitting array based on cooperative magnetic levitation according to claim 1, characterized in that, The real-time motion parameters of the light-emitting unit include: the position and velocity of the light-emitting unit; The physical process of the preset pattern includes: the trajectory of the preset pattern, the explosion pattern, and the sound effect attenuation.

6. The system of an aerial programmable light-emitting array based on cooperative magnetic levitation according to claim 1, characterized in that, The system also includes: a multi-mode safe recycling mechanism; The multi-mode safe recovery mechanism includes: magnetic levitation slow descent mode, rotor-assisted landing mode, and balloon-traction recovery mode; The magnetic levitation descent mode is specifically as follows: By linearly attenuating the current of the electromagnetic array, the smooth magnetic levitation and slow descent of the light-emitting unit can be achieved. The rotor-assisted landing mode is specifically as follows: The built-in micro tail fin of the light-emitting unit is triggered to achieve rotor-assisted landing mode; The balloon traction and recovery mode is specifically as follows: Release the inflatable balloon to pull the light-emitting unit to the ground to achieve the balloon traction and recovery mode.

7. A control method for an aerial programmable light-emitting array based on cooperative magnetic levitation, used to implement the system of an aerial programmable light-emitting array based on cooperative magnetic levitation as described in any one of claims 1-6, characterized in that, Includes the following steps: S1. A light-emitting unit array is set up, the light-emitting unit array includes multiple independently suspended light-emitting units, each light-emitting unit includes: a permanent magnet, an RGBW LED module and a control circuit with an integrated inertial sensor; S2. Using the central controller, receive the real-time motion parameters of the corresponding light-emitting units fed back by each inertial sensor, and calculate the target spatial coordinates and running status of each light-emitting unit in real time according to the preset pattern, and generate motion control signals and motion status signals. S3. Utilize the sound and light physical model mapping engine to receive motion state signals and generate matching sound effect commands and light animation commands based on the physical process of the preset pattern. S4. The electromagnetic array generates a dynamic magnetic field according to the motion control signal to drive the light-emitting unit to levitate and move in three-dimensional space; S5. The light-emitting unit controls the light-emitting state of the RGBW LED module according to the light animation instructions; the sound system receives sound effect instructions and plays spatial sound effects.

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