CN-121704544-B - Air light effect generation method, device, equipment and medium based on unmanned aerial vehicle cluster

CN121704544BCN 121704544 BCN121704544 BCN 121704544BCN-121704544-B

Abstract

The invention provides an aerial light effect generation method, device, equipment and medium based on unmanned aerial vehicle clusters, which comprise the steps of analyzing and space-time modeling a preset light effect script to generate a space-time task map, carrying out task allocation and track generation on the unmanned aerial vehicle clusters based on the space-time task map to obtain four-dimensional control sequences of each unmanned aerial vehicle, and controlling the unmanned aerial vehicle clusters to execute corresponding flight, laser projection and specular reflection actions based on the four-dimensional control sequences to generate dynamic light effects. Compared with the prior art, the invention can realize the effects of active projection, directional reflection, multiple reflection and dynamic light path reconstruction of laser in the air so as to improve the visual expressive force of unmanned aerial vehicle cluster performance.

Inventors

CHEN PENG
DENG TAO

Assignees

深圳大漠大智控技术有限公司

Dates

Publication Date: 20260512
Application Date: 20260212

Claims (9)

1. An aerial light effect generation method based on unmanned aerial vehicle clusters is characterized by comprising the following steps: Analyzing and space-time modeling is carried out on a preset light effect script, and a space-time task map is generated; Performing task allocation and track generation on the unmanned aerial vehicle clusters based on the space-time task map to obtain a four-dimensional control sequence of each unmanned aerial vehicle; Controlling an unmanned aerial vehicle cluster to execute corresponding flight, laser projection and mirror reflection actions based on the four-dimensional control sequence to generate dynamic light effect, wherein the unmanned aerial vehicle comprises a tripod head and a reflection mirror surface, and a laser is carried on the tripod head; The controlling the unmanned aerial vehicle cluster to execute corresponding actions of flying, laser projection and specular reflection based on the four-dimensional control sequence to generate dynamic light effect comprises the following steps: Controlling at least three unmanned aerial vehicles to form a chained reflection light path, wherein the at least three unmanned aerial vehicles comprise a first unmanned aerial vehicle serving as an initial light source machine, a second unmanned aerial vehicle serving as a primary reflector and a third unmanned aerial vehicle serving as a secondary reflector; Controlling the first unmanned aerial vehicle to activate a laser of the first unmanned aerial vehicle according to the four-dimensional control sequence, and emitting a first laser beam to a preset space direction; controlling the second unmanned aerial vehicle to adjust the direction of a reflecting mirror surface on the unmanned aerial vehicle in real time, so that the first laser beam is incident on the reflecting mirror surface of the second unmanned aerial vehicle; Based on a law of specular reflection, the incident first laser beam is directionally reflected to the third unmanned aerial vehicle through a reflecting mirror surface of the second unmanned aerial vehicle; And controlling the third unmanned aerial vehicle to conduct secondary reflection according to the same principle, guiding the first laser beam to a target area or other unmanned aerial vehicles, and realizing continuous transmission and direction reconstruction of the laser beam in a dynamic reflection chain formed by a plurality of unmanned aerial vehicles so as to generate dynamic light effect.
2. The method for generating air light effect based on unmanned aerial vehicle cluster according to claim 1, wherein the analyzing and space-time modeling the preset light effect script to generate the space-time task map comprises the following steps: Invoking a ray tracing engine to simulate the reverse ray propagation of the target dynamic light effect in the light effect script, and primarily generating a beam path and an initial position and posture set of the unmanned aerial vehicle cluster; Based on the kinematics and the energy consumption model, constructing an optimization problem aiming at minimizing the overall kinetic energy consumption of the cluster and the theoretical light path error; And solving the initial position and the gesture set by using an iterative optimization algorithm, dynamically adjusting the task time sequence and the space layout of each unmanned aerial vehicle, and outputting the space-time task map after the optimization solution.
3. The method for generating the air light effect based on the unmanned aerial vehicle cluster according to claim 1, wherein the task allocation and track generation are performed on the unmanned aerial vehicle cluster based on the space-time task map to obtain a four-dimensional control sequence of each unmanned aerial vehicle, and the method comprises the following steps: Analyzing the space-time task map, and dynamically distributing tasks to unmanned aerial vehicle nodes meeting the conditions according to space-time attributes of the tasks, hardware resource requirements and communication topological structures among unmanned aerial vehicles; Aiming at each unmanned aerial vehicle assigned with tasks, extracting discrete key state frames containing position and attitude information from a corresponding task time line; Performing interpolation calculation on the adjacent key state frames in the three-dimensional space and the time dimension by using a spline curve fitting algorithm to generate a flight track curve and a fuselage attitude change curve; And carrying out time sequence alignment and encapsulation on the flight track curve, the fuselage attitude change curve, the laser emission instruction at the corresponding moment and the cradle head pointing instruction to form the four-dimensional control sequence.
4. The method for generating the air light effect based on the unmanned aerial vehicle cluster according to claim 1, wherein the controlling the unmanned aerial vehicle cluster to execute the corresponding actions of flying, laser projection and specular reflection based on the four-dimensional control sequence to generate the dynamic light effect comprises: After the four-dimensional control sequence is generated and before issuing, virtual light path previewing is carried out on each laser emission instruction contained in the four-dimensional control sequence, and whether the light beam path of the laser emission instruction is spatially intersected with a preset three-dimensional model of a geographic no-fly area is judged; if the space intersection exists, judging that the risk of irradiating the no-fly zone by the light beam exists, automatically adjusting the transmitting power of the laser transmitting instruction to be at a safety level or marking the transmitting power as cancel execution, and informing a dispatching system to carry out corresponding task adjustment; in the execution process of the laser emission instruction, flight stability data of the unmanned aerial vehicle are monitored in real time, and if the flight stability data exceeds a safety threshold value, power output of the unmanned aerial vehicle laser is cut off through a hardware interrupt signal.
5. The method for generating the air light effect based on the unmanned aerial vehicle cluster according to claim 1, wherein the controlling the unmanned aerial vehicle cluster to execute the corresponding actions of flying, laser projection and specular reflection based on the four-dimensional control sequence to generate the dynamic light effect comprises: continuously receiving state telemetry data transmitted back in real time by each unmanned aerial vehicle through a wireless data link in the process of generating dynamic light effect, wherein the state telemetry data comprises positioning coordinates, real-time attitude angles, cloud deck actual angles and laser working parameters of the unmanned aerial vehicle; Based on the returned state telemetry data, combining an expected light path model in the space-time task map, and calculating the position deviation and the direction deviation between the current actually formed aerial light beam and the expected light beam in real time; Judging whether the position deviation and the direction deviation respectively exceed a preset position error tolerance threshold value and a preset direction error tolerance threshold value; if the position deviation and the direction deviation exceed a preset position error tolerance threshold and a preset direction error tolerance threshold respectively, generating a local fine tuning instruction, and issuing and executing the local fine tuning instruction through a real-time instruction channel, wherein the local fine tuning instruction is used for adjusting a pan-tilt pointing angle or a mirror local inclination angle of a corresponding unmanned aerial vehicle so as to compensate the position deviation and the direction deviation.
6. The aerial light effect generation method based on the unmanned aerial vehicle cluster according to claim 1, further comprising: in the process of generating dynamic light effect, maintaining and updating a safe area database comprising a three-dimensional geofence, dynamic obstacle positions and a real-time crowd distribution thermodynamic diagram in real time; Before each laser emission instruction is generated and during the duration of the light beam, predicting the complete three-dimensional space irradiation path of the laser beam corresponding to the laser emission instruction and the final falling point area thereof; performing real-time collision detection and human eye safety level evaluation on the predicted irradiation path and the landing point region data and the safety region database; And dynamically deciding and executing at least one safety intervention operation of laser power grading regulation, beam path emergency steering or cutting off laser output according to the evaluation result, and recording all safety events to an audit log.
7. Aerial light effect generating device based on unmanned aerial vehicle cluster, characterized by comprising: The light effect script analysis and space-time modeling module is used for analyzing and space-time modeling the preset light effect script to generate a space-time task map; the task allocation and track generation module is used for performing task allocation and track generation on the unmanned aerial vehicle cluster based on the space-time task map to obtain a four-dimensional control sequence of each unmanned aerial vehicle; The real-time synchronous issuing and executing module is used for controlling the unmanned aerial vehicle cluster to execute corresponding flying, laser projection and specular reflection actions based on the four-dimensional control sequence so as to generate dynamic light effect, wherein the unmanned aerial vehicle comprises a cradle head and a reflection mirror surface, and a laser is carried on the cradle head; The real-time synchronous issuing and executing module is specifically used for controlling at least three unmanned aerial vehicles to form a chain type reflecting light path, wherein the at least three unmanned aerial vehicles comprise a first unmanned aerial vehicle serving as an initial light source machine, a second unmanned aerial vehicle serving as a primary reflector and a third unmanned aerial vehicle serving as a secondary reflector, the first unmanned aerial vehicle is controlled to activate a laser of the first unmanned aerial vehicle according to the four-dimensional control sequence to emit a first laser beam to a preset space direction, the second unmanned aerial vehicle is controlled to adjust the direction of a reflecting mirror surface on the unmanned aerial vehicle in real time to enable the first laser beam to be incident on the reflecting mirror surface of the second unmanned aerial vehicle, the incident first laser beam is directionally reflected to the third unmanned aerial vehicle through the reflecting mirror surface of the second unmanned aerial vehicle based on the law of mirror reflection, the third unmanned aerial vehicle is controlled to conduct secondary reflection according to the same principle, the first laser beam is guided to a target area or other unmanned aerial vehicles, and continuous transmission and direction reconstruction of the laser beam in a dynamic reflecting chain formed by multiple unmanned aerial vehicles are achieved, and dynamic light efficiency is generated.
8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements an airborne light effect generation method based on unmanned aerial vehicle clusters according to any one of claims 1 to 6.
9. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements an aerial light effect generation method based on an unmanned aerial vehicle cluster according to any of claims 1 to 6.

Description

Air light effect generation method, device, equipment and medium based on unmanned aerial vehicle cluster Technical Field The invention relates to the technical field of unmanned aerial vehicle cluster performance, in particular to an aerial light effect generation method, device, equipment and medium based on unmanned aerial vehicle clusters. Background Along with the integration of science and technology and artistic performances, clustered unmanned aerial vehicle performances have become important visual presentation modes in scenes such as large-scale travel night, sports event, concert and the like. The traditional cluster unmanned aerial vehicle performance mainly comprises the steps of carrying an LED lamp array on an unmanned aerial vehicle body, and arranging static or simple dynamic graphics, characters or patterns in the air through accurate cluster flight control. The working principle is that the flight track and the light state (such as color and brightness) of each unmanned aerial vehicle are programmed in advance, and when in performance, the unmanned aerial vehicle cluster is taken as a whole, and the visual effect is presented through the combination of the transformation of the space position and the on-off of the single-point light source. The technology is widely applied to various lamplight shows and celebration activities. However, the conventional clustered unmanned aerial vehicle performance visual manifestation is limited by the LED lattice, only discrete light spot patterns can be generated, and the light effect dimension is single, so that the unmanned aerial vehicle clustered performance visual manifestation is insufficient. Disclosure of Invention The invention aims to provide an aerial light effect generation method, device, equipment and medium based on an unmanned aerial vehicle cluster, which can realize the effects of active projection, directional reflection, multiple reflection and dynamic light path reconstruction of laser in the air so as to improve the visual expressive force of unmanned aerial vehicle cluster performance. In a first aspect, the present invention provides an air light effect generating method based on an unmanned aerial vehicle cluster, including: Analyzing and space-time modeling is carried out on a preset light effect script, and a space-time task map is generated; Performing task allocation and track generation on the unmanned aerial vehicle clusters based on the space-time task map to obtain a four-dimensional control sequence of each unmanned aerial vehicle; And controlling the unmanned aerial vehicle cluster to execute corresponding actions of flight, laser projection and mirror reflection based on the four-dimensional control sequence so as to generate dynamic light effect, wherein the unmanned aerial vehicle comprises a tripod head and a reflection mirror surface, and a laser is carried on the tripod head. According to one embodiment of the invention, the method comprises the steps of analyzing and space-time modeling a preset light effect script to generate a space-time task map, wherein the method comprises the steps of calling a ray tracing engine to perform reverse ray propagation simulation on target dynamic light effects in the light effect script, initially generating an initial position and posture set of a light beam path and an unmanned aerial vehicle cluster, constructing an optimization problem aiming at minimizing the overall movement energy consumption and theoretical light path error of the cluster based on a kinematics and energy consumption model, solving the initial position and posture set by using an iterative optimization algorithm, dynamically adjusting task time sequence and space layout of each unmanned aerial vehicle, and outputting the space-time task map after optimization. According to one embodiment of the invention, task allocation and track generation are carried out on an unmanned aerial vehicle cluster based on the space-time task map to obtain a four-dimensional control sequence of each unmanned aerial vehicle, wherein the four-dimensional control sequence comprises the steps of analyzing the space-time task map, dynamically allocating tasks to unmanned aerial vehicle nodes conforming to conditions according to space-time attributes of each task, hardware resource requirements and communication topological structures among unmanned aerial vehicles, extracting discrete key state frames containing position and posture information from a task time line corresponding to each unmanned aerial vehicle allocated with tasks, carrying out interpolation calculation on adjacent key state frames in a three-dimensional space and a time dimension by utilizing a spline curve fitting algorithm to generate a flight track curve and a fuselage posture change curve, and carrying out time sequence alignment and encapsulation on the flight track curve, the fuselage posture change curve, laser emission instructions at corresponding m