CN113744673A - Ground-air linkage projection system and method - Google Patents
Ground-air linkage projection system and method Download PDFInfo
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- CN113744673A CN113744673A CN202110940773.8A CN202110940773A CN113744673A CN 113744673 A CN113744673 A CN 113744673A CN 202110940773 A CN202110940773 A CN 202110940773A CN 113744673 A CN113744673 A CN 113744673A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F19/00—Advertising or display means not otherwise provided for
- G09F19/12—Advertising or display means not otherwise provided for using special optical effects
- G09F19/18—Advertising or display means not otherwise provided for using special optical effects involving the use of optical projection means, e.g. projection of images on clouds
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/54—Accessories
- G03B21/56—Projection screens
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Abstract
The invention provides a ground-air linkage projection system and a ground-air linkage projection method; the ground-air linkage projection system comprises: an aerostat cluster comprising a plurality of aerostats; the cluster control module is respectively in communication connection with the aerostat(s) and is used for coordinating the movement of the aerostat(s) in the air so as to control and adjust the air state of the aerostat cluster; the media control module is in communication connection with the cluster control module and is used for acquiring the air state data of the aerostat cluster and adjusting the media image data according to the air state data of the aerostat cluster; and the projection control module is in communication connection with the media control module and is used for controlling and adjusting the projection direction of the ground projection light according to the air state data of the aerostat cluster and the adjusted media image data, so that the image is projected on the aerostat cluster. The ground-air linkage projection system and method have the advantages of long endurance time, stable playing, large image size, wide viewing angle and the like.
Description
Technical Field
The invention relates to the technical field of aerial images, in particular to a ground-air linkage projection system and a ground-air linkage projection method.
Background
The current aerial image technology is divided into two main categories according to the difference of the positions of image equipment: the first type is an airborne image device type, and the most common case is that a plurality of unmanned aerial vehicles form a light dot matrix so as to display different graphic characters; such techniques have the disadvantages of very low resolution, short endurance, narrow viewing angle, etc. The second type is a ground image device type, the most common case is ground projection equipment, and an image is formed by taking a medium such as an aerial smoke screen, a water screen and the like as a projection screen; such techniques have the disadvantages of high cost, low contrast, unstable media, etc.
Disclosure of Invention
The invention provides a ground-air linkage projection system and a ground-air linkage projection method aiming at the technical problems.
The invention provides the following technical scheme:
the invention provides a ground-air linkage projection system, which comprises:
the aerostat cluster comprises a plurality of aerostats and is used for projecting images;
the cluster control module is respectively in communication connection with the aerostat(s) and is used for coordinating the movement of the aerostat(s) in the air so as to control and adjust the air state of the aerostat cluster;
the media control module is in communication connection with the cluster control module and is used for acquiring the air state data of the aerostat cluster and adjusting the media image data according to the air state data of the aerostat cluster;
and the projection control module is in communication connection with the media control module and is used for controlling and adjusting the projection direction of the ground projection light according to the air state data of the aerostat cluster and the adjusted media image data, so that the image is projected on the aerostat cluster.
In the above ground-air linked projection system of the present invention, the cluster control module includes:
the ground-air communication unit is in communication connection with the plurality of aerostats respectively and is used for acquiring flight state data of each aerostat in the aerostat cluster;
and the cluster control unit is in communication connection with the ground-air communication unit and is used for adjusting the air action of each aerostat according to the flight state data of each aerostat in the aerostat cluster, so that the control and adjustment of the air state of the aerostat cluster are realized.
In the ground-air linkage projection system, the air state data of the aerostat cluster comprises flight state data of all aerostats; the flight state data comprises positioning coordinate data and course angle data; recording the positioning coordinate data of the No. i aerostat in the aerostat cluster as Li, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats in the aerostat cluster;
the cluster control unit is used for selecting one aerostat in the aerostat cluster as a central node aerostat; wherein, note central node aerostatics for aerostatics cluster No. k aerostatics, have:
the cluster control unit is also used for calculating and obtaining target coordinate data of each aerostat in the aerostat cluster according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster and the preset safety distance between the aerostats in the aerostat cluster;
the aerostat is further used for driving each aerostat to move to corresponding target coordinate data respectively; and respectively adjusting the heading angle of each aerostat so as to enable the orientation of all the aerostats of the aerostat cluster to be consistent.
In the ground-air linked projection system of the present invention, the media image data includes an image ratio, an image size and an image projection angle;
the media control module is used for adjusting the image proportion according to the arrangement shape and size of the aerostat cluster in the air;
the image size is adjusted according to the target coordinate data of the aerostat cluster;
and the image processing device is also used for performing trapezoidal correction on the image projection angle according to the course angle of the aerostat cluster and the target coordinate data.
In the ground-air linkage projection system, the aerostat comprises an air bag main body and a maneuvering part which is arranged on the air bag main body and is used for controlling the air bag main body to move in the air or keep hovering.
In the ground-air linkage projection system, the skin material of the airbag main body is an aluminum oxide-plated composite material, a silicon oxide-plated composite material or modified PE.
The invention also provides a ground-air linkage projection method, which comprises the following steps:
step S0, providing an aerostat cluster; the aerostat cluster comprises a plurality of aerostats for projecting images;
step S1, coordinating the movement of a plurality of aerostatics in the air, thereby controlling and adjusting the air state of the aerostatics cluster;
step S2, acquiring the air state data of the aerostat cluster, and adjusting the media image data according to the air state data of the aerostat cluster;
and step S3, controlling and adjusting the projection direction of the ground projection light according to the air state data of the aerostat cluster and the adjusted media image data, thereby projecting the image on the aerostat cluster.
In the above ground-air linked projection method according to the present invention, step S1 includes:
acquiring flight state data of each aerostat in the aerostat cluster;
and adjusting the air action of each aerostat according to the flight state data of each aerostat in the aerostat cluster, thereby realizing the control and adjustment of the air state of the aerostat cluster.
In the ground-air linkage projection method, the air state data of the aerostat cluster comprises flight state data of all aerostats; the flight state data comprises positioning coordinate data and course angle data;
step S2 includes:
recording the positioning coordinate data of the number i aerostat in the aerostat cluster as Li in advance, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats in the aerostat cluster;
selecting one aerostat in the aerostat cluster as a central node aerostat; wherein, note central node aerostatics for aerostatics cluster No. k aerostatics, have:
calculating to obtain target coordinate data of each aerostat in the aerostat cluster according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster and the preset safety distance between the aerostats in the aerostat cluster;
respectively driving each aerostat to move to corresponding target coordinate data; and respectively adjusting the heading angle of each aerostat so as to enable the orientation of all the aerostats of the aerostat cluster to be consistent.
In the above ground-space linkage projection method of the present invention, the media image data includes an image ratio, an image size and an image projection angle;
step S3 includes:
adjusting the image proportion according to the configuration shape and size of the aerostat cluster in the air;
adjusting the size of the image according to the target coordinate data of the aerostat cluster;
and performing trapezoidal correction on the image projection angle according to the course angle of the aerostat cluster and the target coordinate data.
The invention combines two types of aerial image technologies to construct a ground-air linkage projection system and a ground-air linkage projection method; a plurality of aerostats are spliced into a large-size projection plane in the air, and ground-air linkage projection media images are formed by using projection equipment deployed on the ground.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a block diagram showing the functional structure of a ground-air linkage projection system according to a preferred embodiment of the present invention;
FIG. 2 shows a schematic diagram of the ground-to-air linked projection system shown in FIG. 1;
fig. 3 is a schematic structural diagram of an aerostat of the aerostat cluster of the ground-air linked projection system shown in fig. 1.
Detailed Description
The technical problem to be solved by the invention is as follows: in the existing aerial image technology, the airborne image equipment has the defects of extremely low resolution, short endurance time, narrow viewing angle and the like; the ground imaging device type has the disadvantages of high cost, low contrast, unstable medium, etc. The technical idea of the invention for solving the technical problem is as follows: constructing a ground-air linkage projection system and method by combining two types of aerial image technologies; a plurality of aerostats are spliced into a large-size projection plane in the air, and ground-air linkage projection media images are formed by using projection equipment deployed on the ground.
In order to make the technical solutions, technical objects, and technical effects of the present invention clearer so as to enable those skilled in the art to understand and implement the present invention, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, fig. 1 is a functional block diagram of a ground-air linkage projection system according to a preferred embodiment of the present invention; fig. 2 shows a schematic diagram of the ground-air linked projection system shown in fig. 1. In fig. 1, the solid line represents control, and the broken line represents feedback. Specifically, the invention provides a ground-air linkage projection system, which comprises:
an aerostat cluster 100 comprising a plurality of aerostats 110 for image projection;
here, as shown in fig. 3, fig. 3 is a schematic structural diagram of the aerostat 110 of the aerostat cluster of the ground-air linked projection system shown in fig. 1. The aerostat 110 comprises an airbag body 111 and a maneuvering portion 112 mounted on the airbag body 111 for controlling the airbag body 111 to move in the air or to remain hovering.
The skin material of the airbag main body 111 is mainly a material with high barrier property, such as an aluminum oxide-plated composite material, a silicon oxide-plated composite material, modified PE, and the like; the shape of the airship can adopt various shapes such as a square shape, a spherical shape, a traditional airship or an airship disc and the like; the surface of the airbag main body 111 has an area serving as a projection screen. The inside of the airbag main body 111 is filled with gas such as helium or hydrogen, so that the airbag main body 111 can remain hovering without consuming a large amount of energy from the motor portion 112, thereby achieving a long-term endurance of the aerostat 110.
The maneuvering section 112 comprises a battery, a motor, a propeller, a wing, a flight control execution module, a sensor module, a communication module, a positioning module, and the like; the flight control execution module, the sensor module, the communication module, the positioning module and the like are arranged on the control panel. The invention is not limited to the form that the motive portion 112 takes. The mobile portion 112 mainly implements basic movement forms of a single aerostat, such as ascending, descending, advancing, retreating, left-moving, right-moving, clockwise rotation and counterclockwise rotation.
When a plurality of aerostats 110 are in the air, two adjacent aerostats 110 are in mutual cooperation through the maneuvering part 112, are close to each other sufficiently and form a safe distance, and then are hovered in the air, and finally a relatively stable cluster hovering state is formed.
The cluster control module 200 is in communication connection with the plurality of aerostats 110, and is used for coordinating the plurality of aerostats 110 to move in the air, so as to control and adjust the air state of the aerostat cluster 100;
here, the cluster control module 200 includes:
the ground-air communication unit 210 is respectively connected with the plurality of aerostats 110, and is configured to acquire flight state data of each aerostat 110 in the aerostat cluster 100;
and the cluster control unit 220 is in communication connection with the ground-air communication unit 210, and is configured to adjust the air behavior of each aerostat 110 according to the flight state data of each aerostat 110 in the aerostat cluster 100, so as to control and adjust the air state of the aerostat cluster 100.
Specifically, the cluster control unit 220 may send out a corresponding adjustment instruction according to the flight status data of each aerostat 110, and transmit the adjustment instruction to the aerostat 110 through the ground-air communication unit 210, so as to implement control adjustment on the aerostat 110.
Further, the airborne state data of the aerostat cluster 100 comprises flight state data of all aerostats 110; the flight state data comprises positioning coordinate data and course angle data; recording the positioning coordinate data of the i-th aerostat 110 in the aerostat cluster 100 as Li, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats 110 in the aerostat cluster 100;
the cluster control unit 220 is configured to select one aerostat 110 in the aerostat cluster 100 as a central node aerostat; wherein, note that central node aerostatics is aerostatics 110 No. k in aerostatics cluster 100, have:
the method is also used for calculating and obtaining target coordinate data SLi of each aerostat 110 in the aerostat cluster 100 according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster 100 and the preset safety distance da between the aerostats in the aerostat cluster 100;
and is also used for driving each aerostat 110 to move to the corresponding target coordinate data SLi respectively; and adjust the heading angle of each aerostat 110 individually to make all the aerostat 110 of the cluster of aerostat 100 oriented in the same direction.
By adjusting the heading angles of all the aerostats 110 of the aerostat cluster 100, the projected screen areas of all the aerostats 110 may be oriented uniformly. After the aerostat cluster 100 is formed, the cluster control unit 220 takes the position of the aerostat of the central node of the aerostat cluster 100 as the position of the whole aerostat cluster 100; the heading angle of the central node aerostat is taken as the heading angle of the whole aerostat cluster 100. The adjustment of the movement of the other aerostats 110 in the aerostat cluster 100 is consistent with the central node aerostat.
The media control module 300 is in communication connection with the cluster control module 200, and is configured to acquire air state data of the aerostat cluster 100 and adjust media image data according to the air state data of the aerostat cluster 100;
here, the media control module 300 is mainly used for controlling the scale, size and angle correction of the image. The airborne state data of the aerostat cluster 100 comprises the arrangement shape size, target coordinate data and heading angle of the aerostat cluster 100 in the air. The adjustment of the image by the media control module 300 is mainly based on the configuration shape, size, position and heading angle of the aerostat cluster 100 in the air.
Specifically, the media image data includes an image ratio, an image size, and an image projection angle. The media control module 300 is further configured to adjust an image ratio according to the arrangement shape and size of the aerostat cluster 100 in the air;
the image processing system is also used for adjusting the size of the image according to the target coordinate data of the aerostat cluster 100;
and is further configured to perform trapezoidal correction on the image projection angle according to the heading angle of the aerostat cluster 100 and the target coordinate data.
After the media control module 300 completes the adjustment of the image, the adjusted media image data and the air state data of the aerostat cluster 100 are transmitted to the projection control module 400, so that the image is correctly projected onto the aerostat cluster 100.
And the projection control module 400 is in communication connection with the media control module 300 and is used for controlling and adjusting the projection direction of the ground projection light according to the air state data of the aerostat cluster 100 and the adjusted media image data.
Here, the projection control module 400 is mainly used to control the direction of the ground projection light. The projection control module 400 mainly includes a horizontal rotation axis and a pitch rotation axis. The adjustment of the projection control module 400 to the ground projection light direction depends mainly on the position of the aerostat cluster 100 in the air.
After receiving the flight status of the aerostat cluster 100 transmitted by the media control module 300, the projection control module 400 calculates the horizontal steering angle and the pitch angle according to the position of the aerostat cluster 100 in the air, and performs corresponding adjustment.
The invention also provides a ground-air linkage projection method, which comprises the following steps:
step S0, providing an aerostat cluster 100; the aerostat cluster 100 comprises a plurality of aerostats 110 for image projection;
step S1, coordinating the movement of a plurality of aerostats 110 in the air, thereby controlling and adjusting the air state of the aerostat cluster 100;
step S1 includes:
acquiring flight state data of each aerostat 110 in the aerostat cluster 100;
according to the flight state data of each aerostat 110 in the aerostat cluster 100, the aerial action of each aerostat 110 is adjusted, so that the control and adjustment of the aerial state of the aerostat cluster 100 are realized.
Step S2, acquiring the air state data of the aerostat cluster 100, and adjusting the media image data according to the air state data of the aerostat cluster 100;
in this step, the airborne state data of the aerostat cluster 100 comprises the flight state data of all aerostats 110; the flight state data comprises positioning coordinate data and course angle data;
step S2 includes:
recording the positioning coordinate data of the i-th aerostat 110 in the aerostat cluster 100 as Li in advance, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats 110 in the aerostat cluster 100;
selecting one aerostat 110 in the aerostat cluster 100 as a central node aerostat; wherein, note that central node aerostatics is aerostatics 110 No. k in aerostatics cluster 100, have:
calculating to obtain target coordinate data SLi of each aerostat 110 in the aerostat cluster 100 according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster 100 and the preset safety distance da between the aerostats in the aerostat cluster 100;
respectively driving each aerostat 110 to move to the corresponding target coordinate data SLi; and adjust the heading angle of each aerostat 110 individually to make all the aerostat 110 of the cluster of aerostat 100 oriented in the same direction.
In this step, the media image data includes an image ratio, an image size, and an image projection angle;
step S3, controlling and adjusting the projection direction of the ground projection light according to the air state data of the aerostat cluster 100 and the adjusted media image data, thereby projecting an image on the aerostat cluster 100.
Step S3 includes:
adjusting the image proportion according to the distribution shape and size of the aerostat cluster 100 in the air;
adjusting the size of the image according to the target coordinate data of the aerostat cluster 100;
and performing trapezoidal correction on the image projection angle according to the course angle and the target coordinate data of the aerostat cluster 100.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A ground-to-air linked projection system, comprising:
an aerostat cluster (100) comprising a plurality of aerostats (110) for image projection;
the cluster control module (200) is respectively in communication connection with the plurality of aerostats (110) and is used for coordinating the movements of the plurality of aerostats (110) in the air so as to control and adjust the air state of the aerostat cluster (100);
the media control module (300) is in communication connection with the cluster control module (200) and is used for acquiring the air state data of the aerostat cluster (100) and adjusting the media image data according to the air state data of the aerostat cluster (100);
and the projection control module (400) is in communication connection with the media control module (300) and is used for controlling and adjusting the projection direction of ground projection light according to the air state data of the aerostat cluster (100) and the adjusted media image data, so that the image is projected on the aerostat cluster (100).
2. The ground-air linkage projection system according to claim 1, wherein the cluster control module (200) comprises:
the ground-air communication unit (210) is respectively in communication connection with the plurality of aerostats (110) and is used for acquiring flight state data of each aerostat (110) in the aerostat cluster (100);
and the cluster control unit (220) is in communication connection with the ground-air communication unit (210) and is used for adjusting the air action of each aerostat (110) according to the flight state data of each aerostat (110) in the aerostat cluster (100), so that the control and adjustment of the air state of the aerostat cluster (100) are realized.
3. The ground-air linkage projection system according to claim 2, wherein the air state data of the aerostat cluster (100) comprises flight state data of all aerostats (110); the flight state data comprises positioning coordinate data and course angle data; recording the positioning coordinate data of the i-th aerostat (110) in the aerostat cluster (100) as Li, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats (110) in the aerostat cluster (100);
the cluster control unit (220) is used for selecting one aerostat (110) in the aerostat cluster (100) as a central node aerostat; wherein, note central node aerostatics for aerostatics cluster (100) No. k aerostatics (110), have:
the cluster control unit (220) is also used for calculating and obtaining target coordinate data of each aerostat (110) in the aerostat cluster (100) according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster (100) and the preset safety distance between the aerostats in the aerostat cluster (100);
and is also used for respectively driving each aerostat (110) to move to the corresponding target coordinate data; and adjusting the heading angle of each aerostat (110) respectively so as to enable the orientation of all the aerostats (110) of the aerostat cluster (100) to be consistent.
4. The ground-air linkage projection system according to claim 3, wherein the media image data includes image scale, image size and image projection angle;
the media control module (300) is used for adjusting the image proportion according to the arrangement shape and size of the aerostat cluster (100) in the air;
the image processing system is also used for adjusting the size of the image according to the target coordinate data of the aerostat cluster (100);
and the method is also used for performing trapezoidal correction on the image projection angle according to the course angle of the aerostat cluster (100) and the target coordinate data.
5. The ground-air linkage projection system according to claim 1, wherein the aerostat (110) comprises an airbag body (111) and a maneuvering portion (112) mounted on the airbag body (111) for controlling the airbag body (111) to move in the air or to remain hovering.
6. The ground-air linkage projection system according to claim 5, characterized in that the skin material of the airbag main body (111) is aluminum oxide-plated composite material, silicon oxide-plated composite material or modified PE.
7. A ground-air linkage projection method is characterized by comprising the following steps:
step S0, providing an aerostat cluster (100); the aerostat cluster (100) comprises a plurality of aerostats (110) for projecting images;
step S1, coordinating the movement of a plurality of aerostats (110) in the air, thereby controlling and adjusting the air state of the aerostat cluster (100);
step S2, acquiring the air state data of the aerostat cluster (100), and adjusting the media image data according to the air state data of the aerostat cluster (100);
and step S3, controlling and adjusting the projection direction of the ground projection light according to the air state data of the aerostat cluster (100) and the adjusted media image data, thereby projecting the image on the aerostat cluster (100).
8. The ground-air linkage projection method according to claim 7, wherein the step S1 comprises:
acquiring flight state data of each aerostat (110) in the aerostat cluster (100);
according to the flight state data of each aerostat (110) in the aerostat cluster (100), the air action of each aerostat (110) is adjusted, and therefore control and adjustment of the air state of the aerostat cluster (100) are achieved.
9. The ground-air linkage projection method according to claim 8, characterized in that the air state data of the aerostat cluster (100) comprises flight state data of all aerostats (110); the flight state data comprises positioning coordinate data and course angle data;
step S2 includes:
recording the positioning coordinate data of the i-th aerostat (110) in the aerostat cluster (100) as Li in advance, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats (110) in the aerostat cluster (100);
selecting one aerostat (110) in the aerostat cluster (100) as a central node aerostat; wherein, note central node aerostatics for aerostatics cluster (100) No. k aerostatics (110), have:
calculating to obtain target coordinate data of each aerostat (110) in the aerostat cluster (100) according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster (100) and the preset safety distance between the aerostats in the aerostat cluster (100);
respectively driving each aerostat (110) to move to the corresponding target coordinate data; and adjusting the heading angle of each aerostat (110) respectively so as to enable the orientation of all the aerostats (110) of the aerostat cluster (100) to be consistent.
10. The ground-air linkage projection method according to claim 9, wherein the media image data includes image scale, image size and image projection angle;
step S3 includes:
adjusting the image proportion according to the arrangement shape and size of the aerostat cluster (100) in the air;
adjusting the size of the image according to the target coordinate data of the aerostat cluster (100);
and performing trapezoidal correction on the image projection angle according to the course angle and the target coordinate data of the aerostat cluster (100).
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