CN106032170B

CN106032170B - Screen forming method and device and aircraft

Info

Publication number: CN106032170B
Application number: CN201510118114.0A
Authority: CN
Inventors: 杜琳
Original assignee: Beijing Zhigu Ruituo Technology Services Co Ltd
Current assignee: Beijing Zhigu Ruituo Technology Services Co Ltd
Priority date: 2015-03-18
Filing date: 2015-03-18
Publication date: 2020-01-10
Anticipated expiration: 2035-03-18
Also published as: CN106032170A

Abstract

The embodiment of the application provides a screen forming method and device and an aircraft. The method comprises the following steps: determining at least one jetting parameter of at least one jet forming the at least one screen based on at least a desired state of the at least one screen, a location of the at least one jet for jetting particles forming the at least one screen, a property of the particles; and controlling the spray particles of the at least one spray head at least according to at least one spray parameter of the at least one spray head. The embodiment of the application provides a scheme for forming a screen which can be used for projection.

Description

Screen forming method and device and aircraft

Technical Field

The embodiment of the application relates to the technical field of display, in particular to a screen forming method and device and an aircraft.

Background

A three-dimensional (3D) display technology of volume pixels is a method for presenting 3D content by constructing physical pixels in space, and is usually implemented by using a display screen rotating at a high speed, or a curtain rotating at a high speed in cooperation with peripheral projection.

Disclosure of Invention

In view of the above, an object of the embodiments of the present application is to provide a solution for forming a screen that can be used for projection.

To achieve the above object, according to a first aspect of embodiments of the present application, there is provided a screen forming method including:

determining at least one jetting parameter of at least one jet forming the at least one screen based on at least a desired state of the at least one screen, a location of the at least one jet for jetting particles forming the at least one screen, a property of the particles;

controlling the injection of the at least one spray head at least in dependence on at least one injection parameter of the at least one spray head.

With reference to the first aspect, in a first possible implementation manner of the first aspect, the at least one screen is formed by an airflow generated by the particles based at least on rotation of the movable at least one rotor.

With reference to the first aspect or any one of the above possible implementations of the first aspect, in a second possible implementation of the first aspect, the at least one rotor is located on at least one first aircraft.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a third possible implementation of the first aspect, the determining at least one spraying parameter of at least one spraying head according to at least a desired state of the at least one screen, a position of the at least one spraying head for spraying particles forming the at least one screen, and properties of the particles includes:

at least one spray parameter of the at least one spray head is determined based at least on a desired state of the at least one screen, a location of the at least one spray head for spraying particles forming the at least one screen, a property of the particles, and at least one motion parameter of the at least one rotor.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a fourth possible implementation of the first aspect, the determining at least one spraying parameter of at least one spraying head according to at least a desired state of the at least one screen, a position of the at least one spraying head for spraying particles forming the at least one screen, and properties of the particles includes:

determining at least one spraying parameter of the at least one spraying head and at least one motion parameter of the at least one rotor based at least on a desired state of the at least one screen, a location of the at least one spraying head for spraying particles forming the at least one screen, properties of the particles.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a fifth possible implementation of the first aspect, the method further includes:

controlling the at least one rotor based at least on at least one parameter of motion of the at least one rotor.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a sixth possible implementation of the first aspect, the at least one motion parameter of the at least one rotor includes: direction of rotation, speed of rotation, angle of the at least one rotor.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a seventh possible implementation of the first aspect, the determining at least one spraying parameter of at least one spraying head according to at least a desired state of the at least one screen, a position of the at least one spraying head for spraying particles forming the at least one screen, and properties of the particles includes:

determining at least one injection parameter of the at least one injection head and at least one control parameter of the at least one first aircraft based at least on a desired state of the at least one screen, a location of the at least one injection head for injecting particles forming the at least one screen, a property of the particles, and a starting location of the at least one first aircraft.

With reference to the first aspect or any one of the foregoing possible implementation manners of the first aspect, in an eighth possible implementation manner of the first aspect, the method further includes:

controlling the at least one first aircraft based at least on at least one control parameter of the at least one first aircraft.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a ninth possible implementation of the first aspect, the at least one control parameter of the at least one first aircraft includes: direction of rotation, speed of rotation, angle of rotation of at least one rotor of the at least one first aerial vehicle.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a tenth possible implementation of the first aspect, the at least one sprinkler is located on at least one second aircraft.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in an eleventh possible implementation of the first aspect, the determining at least one spraying parameter of at least one spraying head according to at least a desired state of the at least one screen, a position of the at least one spraying head for spraying particles forming the at least one screen, and properties of the particles includes:

at least one spraying parameter of at least one spraying head is determined according to at least the expected state of at least one screen, the position of the at least one spraying head for spraying the particles forming the at least one screen, the properties of the particles and environmental information.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a twelfth possible implementation of the first aspect, the environment information includes: wind speed, wind direction.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a thirteenth possible implementation of the first aspect, the desired state includes: desired shape, desired position, desired pose, desired density distribution.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a fourteenth possible implementation of the first aspect, the property of the particle includes: density, volume, shape of the particles.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in a fifteenth possible implementation of the first aspect, the at least one injection parameter includes at least one of: spray direction, spray flow rate, spray velocity.

To achieve the above object, according to a second aspect of embodiments of the present application, there is provided a screen forming apparatus including:

a determining module for determining at least one spraying parameter of at least one spraying head for spraying particles forming at least one screen according to at least one expected state of the screen, the position of the at least one spraying head and the property of the particles;

the first control module is used for controlling the spraying of the at least one sprayer at least according to at least one spraying parameter of the at least one sprayer.

With reference to the second aspect, in a first possible implementation manner of the second aspect, the at least one screen is formed by an airflow generated by the particles based at least on rotation of the movable at least one rotor.

In combination with the second aspect or any one of the above possible implementations of the second aspect, in a second possible implementation of the second aspect, the at least one rotor is located on at least one first aircraft.

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a third possible implementation of the second aspect, the determining module is specifically configured to:

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a fourth possible implementation of the second aspect, the determining module is specifically configured to:

With reference to the second aspect or any one of the foregoing possible implementation manners of the second aspect, in a fifth possible implementation manner of the second aspect, the screen forming apparatus further includes:

a second control module for controlling the at least one rotor based at least on at least one parameter of motion of the at least one rotor.

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a sixth possible implementation of the second aspect, the at least one motion parameter of the at least one rotor includes: direction of rotation, speed of rotation, angle of the at least one rotor.

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a seventh possible implementation of the second aspect, the determining module is specifically configured to:

With reference to the second aspect or any one of the foregoing possible implementation manners of the second aspect, in an eighth possible implementation manner of the second aspect, the screen forming apparatus further includes:

a third control module for controlling the at least one first aircraft based at least on at least one control parameter of the at least one first aircraft.

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a ninth possible implementation of the second aspect, the at least one control parameter of the at least one first aircraft includes: direction of rotation, speed of rotation, angle of rotation of at least one rotor of the at least one first aerial vehicle.

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a tenth possible implementation of the second aspect, the at least one spray head is located on at least one second aircraft.

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in an eleventh possible implementation of the second aspect, the determining module is specifically configured to:

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a twelfth possible implementation of the second aspect, the environment information includes: wind speed, wind direction.

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a thirteenth possible implementation of the second aspect, the desired state includes: desired shape, desired position, desired pose, desired density distribution.

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a fourteenth possible implementation of the second aspect, the property of the particle includes: density, volume, shape of the particles.

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in a fifteenth possible implementation of the second aspect, the at least one injection parameter includes at least one of: spray direction, spray flow rate, spray velocity.

To achieve the above object, according to a third aspect of embodiments of the present application, there is provided an aircraft including:

at least one spray head for spraying particles;

a determination module for determining at least one spray parameter of at least one spray head based on at least a desired state of at least one screen, a location of the at least one spray head, and an attribute of the particles;

With reference to the third aspect, in a first possible implementation manner of the third aspect, the aircraft further includes: at least one first rotor.

With reference to the third aspect or any one of the foregoing possible implementations of the third aspect, in a second possible implementation of the third aspect, the determining module is specifically configured to: determining at least one injection parameter of the at least one nozzle tip based at least on a desired state of at least one screen, a position of the at least one nozzle tip, a property of the particles, and at least one motion parameter of the at least one first rotor.

With reference to the third aspect or any one of the foregoing possible implementations of the third aspect, in a third possible implementation of the third aspect, the determining module is specifically configured to: determining at least one spray parameter of the at least one spray head and at least one motion parameter of at least one second rotor based at least on a desired state of at least one screen, a location of the at least one spray head, a property of the particles, and at least one motion parameter of the at least one first rotor; the distance of the at least one second rotor from the aircraft is within a first threshold.

With reference to the third aspect or any one of the foregoing possible implementations of the third aspect, in a fourth possible implementation of the third aspect, the aircraft further includes: a second control module for controlling the at least one second rotor based at least on at least one motion parameter of the at least one second rotor.

With reference to the third aspect or any one of the foregoing possible implementation manners of the third aspect, in a fifth possible implementation manner of the third aspect, the at least one motion parameter includes: direction of rotation, speed of rotation, angle.

With reference to the third aspect or any one of the foregoing possible implementations of the third aspect, in a sixth possible implementation of the third aspect, the determining module is specifically configured to: determining at least one injection parameter of the at least one nozzle and at least one control parameter of at least one other aircraft based at least on a desired state of at least one screen, a position of the at least one nozzle, a property of the particles, and at least one motion parameter of the at least one first rotor; the at least one other aircraft is within a second threshold distance from the aircraft and the at least one other aircraft has at least one third rotor.

With reference to the third aspect or any one of the foregoing possible implementation manners of the third aspect, in a seventh possible implementation manner of the third aspect, the aircraft further includes: a third control module for controlling the at least one other aircraft based at least on at least one control parameter of the at least one other aircraft.

With reference to the third aspect or any one of the foregoing possible implementations of the third aspect, in an eighth possible implementation of the third aspect, the at least one control parameter of the at least one other aircraft includes: direction of rotation, speed of rotation, angle of rotation of at least one third rotor of the at least one other aircraft.

With reference to the third aspect or any one of the foregoing possible implementations of the third aspect, in a ninth possible implementation of the third aspect, the aircraft is an unmanned aerial vehicle.

With reference to the third aspect or any one of the foregoing possible implementations of the third aspect, in a tenth possible implementation of the third aspect, the expected state includes: desired shape, desired position, desired pose, desired density distribution.

With reference to the third aspect or any one of the foregoing possible implementation manners of the third aspect, in an eleventh possible implementation manner of the third aspect, the property of the particle includes: density, volume, shape of the particles.

With reference to the third aspect or any one of the foregoing possible implementations of the third aspect, in a twelfth possible implementation of the third aspect, the at least one injection parameter includes at least one of: spray direction, spray flow rate, spray velocity.

At least one of the above technical solutions has the following beneficial effects:

the embodiment of the application provides a scheme for forming a screen which can be used for projection by determining at least one spraying parameter of at least one spraying head according to at least one expected state of at least one screen, the position of the at least one spraying head used for spraying particles forming the at least one screen and the properties of the particles and controlling the spraying of the at least one spraying head according to at least one spraying parameter of the at least one spraying head.

Drawings

FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a screen forming method provided in the present application;

FIG. 2 is a schematic structural diagram of a first embodiment of a screen forming apparatus provided in the present application;

fig. 3 and fig. 4 are respectively schematic structural diagrams of an alternative implementation manner of the embodiment shown in fig. 2;

fig. 5 is a schematic structural diagram of a second embodiment of a screen forming apparatus provided in the present application;

FIG. 6 is a schematic structural diagram of an embodiment of an aircraft provided herein;

FIG. 7 is a schematic diagram of an alternative implementation of the embodiment shown in FIG. 6;

FIG. 8 is a physical schematic diagram of the implementation shown in FIG. 7;

fig. 9 and fig. 10 are schematic structural diagrams of still another alternative implementation manner of the embodiment shown in fig. 6, respectively.

Detailed Description

The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Fig. 1 is a schematic flowchart of an embodiment of a screen forming method provided in the present application. As shown in fig. 1, the present embodiment includes:

110. at least one jetting parameter of at least one of the jets is determined based at least on a desired state of the at least one screen, a location of the at least one jet for jetting particles forming the at least one screen, and a property of the particles.

For example, the screen forming device according to one or two embodiments of the screen forming device provided by the present application, or the aircraft according to one embodiment of the present application, as an execution body of the present embodiment, executes 110 to 120.

In this embodiment, the at least one screen is formed by particles ejected from the at least one nozzle.

In this embodiment, each screen has its own desired state. Specifically, the desired states include, but are not limited to: desired shape, desired position, desired pose, desired density distribution. Wherein the desired shape may be planar, such as a planar rectangle, or solid, such as a solid cylinder, etc. The desired position may be any position near the position of the at least one spray head; since each screen occupies a certain space, the desired position is optionally the center position of the corresponding screen. The desired attitude may be an attitude of a screen with respect to a reference plane, for example, when the screen is a plane, the desired attitude may be an angle of the plane with respect to a horizontal plane, and when the screen is a cylinder, the desired attitude may be an angle of an axis of the cylinder with respect to the horizontal plane. The desired density distribution includes a distribution density of the particles in at least one region of a screen, the distribution density of the particles identifying how many of the particles are in a region; optionally, the desired density distribution is uniform, i.e. the distribution density of the particles is the same or approximately the same in all areas of a screen, or the desired density distribution is non-uniform.

It should be noted that the particles ejected from the at least one nozzle usually do not stay in the area where the at least one screen is located for a long time but spread after a certain time, but the particles ejected later from the at least one nozzle may supplement the particles ejected earlier from the at least one nozzle and spread from the area where the at least one screen is located, thereby maintaining the at least one screen in the desired shape at the desired position. In addition, due to the above instability of the particles, the actual state of the at least one screen formed by the particles ejected by the at least one nozzle may not exactly coincide with the desired state. Wherein, similar to the desired state, the actual state includes, but is not limited to: actual shape, actual position, actual attitude, actual density distribution.

In this embodiment, the desired state of the at least one screen may be fixed or may vary with some variable (e.g., time).

In this embodiment, each of the at least one nozzle has its own position, and when the at least one nozzle is a plurality of nozzles, the positions of the plurality of nozzles may be the same or different.

In this embodiment, the position of the at least one nozzle may be an absolute position of the at least one nozzle, or may be a relative position of the at least one nozzle with respect to at least one other object. Wherein the at least one other object is optionally an object that has an effect on the particles ejected by the at least one nozzle to form the at least one screen.

In this embodiment, the particles are in a solid state, or alternatively, in a liquid state. The particles may be, for example, dust, or, alternatively, water droplets.

In this embodiment, the properties of the particles include, but are not limited to: density, volume, shape of the particles.

In this embodiment, each of the at least one spray head has its own at least one spray parameter. Optionally, the at least one injection parameter includes, but is not limited to, at least one of: spray direction, spray flow, spray speed, spray pressure, and spray head area. Wherein the jetting direction indicates a direction in which a jetting head jets the particles; the ejection flow rate represents the volume of particles ejected by an ejection head per unit time; the jet velocity represents the velocity of particles jetted by a jet at the outlet of the jet; the injection pressure represents the pressure of the particles injected by a nozzle at the outlet of the nozzle; the spray head area represents the cross-sectional area at the outlet of a spray head. In particular, at least one injection parameter per spray head of the at least one spray head is controllable, i.e. can be set or modified in the method of the present embodiment. For example, the at least one nozzle includes a nozzle a and a nozzle B, at least one of the nozzle a's spray direction, spray flow rate, spray speed, spray pressure, and nozzle area is controllable, such as the nozzle a's spray flow rate is controllable, and at least one of the nozzle B's spray direction, spray flow rate, spray speed, spray pressure, and nozzle area is controllable, such as the nozzle B's spray direction and spray speed is controllable.

120. Controlling the injection of the at least one spray head at least in dependence on at least one injection parameter of the at least one spray head.

In this embodiment, the controlling of the spraying of the at least one spraying head at least according to the at least one spraying parameter of the at least one spraying head means controlling the at least one spraying head to spray or not spray the particles at least according to the at least one spraying parameter. For example, the at least one head includes a head A and a head B, 110 determines that the spraying direction of the head A is a1, the spraying flow rate is B1, the spraying speed is c1, the spraying direction of the head B is a2, the spraying flow rate is B2, and the spraying speed is c2, 120 controls the head A to spray or not spray particles in the spraying direction a1, the spraying flow rate B1, and the spraying speed c1, controls the head B to spray or not spray particles in the spraying direction a2, the spraying flow rate B2, and the spraying speed c2, alternatively, in 110, it is determined that the ejection direction of the head a is a1, the ejection flow rate is B1, the head area is d1, and the ejection direction of the head B is a2, the ejection flow rate is B2, and the ejection area is d2, in 120, the head a is controlled to eject or not eject particles in the ejection direction a1, the ejection flow rate B1, and the ejection area d1, and the head B is controlled to eject or not eject particles in the ejection direction a2, the ejection flow rate B2, and the ejection area d 2. It should be noted that when determining that the jet flow rate or jet speed or jet pressure or jet area of a jet is 0, the jet is controlled not to jet particles, otherwise the jet is controlled to jet particles.

In this embodiment, optionally, at least one of the spray direction, spray flow rate, spray velocity, spray pressure, spray area of each of the at least one spray head is known, i.e. has been set and is not modified in the method of the present embodiment, and accordingly, the unknown at least one spray parameter of each spray head is determined in combination with the known at least one spray parameter of each spray head in 110, and accordingly, each spray head is controlled to spray or not spray particles with the known at least one spray parameter and the determined at least one spray parameter in 110 in 120. For example, the at least one head includes a head a and a head B, the jetting direction of the head a and the jetting direction of the head B are known, the jetting flow rate, the jetting speed, and the jetting flow rate, the jetting speed of the head a and the jetting direction of the head B are determined in 110 based on at least a desired state of the at least one screen, the position of the head a, the position of the head B, the property of the particles, and the jetting direction of the head a and the jetting direction of the head B, the head a and the head B are controlled to respectively jet the particles in the respective known jetting directions in 120, and the respective jetting flow rate, the jetting speed, and the non-jetting of the particles determined in 110 are determined.

In this embodiment, the at least one injection parameter determined in 110 may be a fixed value or a value that varies with some variable (e.g., time), and accordingly, when the at least one injection parameter varies with some variable, the at least one injection head is controlled in 120 according to the variable to inject or not inject the particles according to the at least one injection parameter corresponding to the variable.

It should be noted that in this embodiment, one nozzle is controlled to spray particles, at least the spraying direction of the nozzle is known, and in addition, at least two of the following spraying parameters of the nozzle are also known: jet flow, jet speed, jet pressure and jet head area.

The present embodiment provides a solution for forming a screen usable for projection by determining at least one jetting parameter of at least one jet for jetting particles forming the at least one screen, based on at least a desired state of the at least one screen, a position of the at least one jet for jetting the particles, and properties of the particles, and controlling jetting of the at least one jet based on at least the at least one jetting parameter of the at least one jet.

The method of the present embodiment is further described below in some alternative implementations.

In this embodiment, in order to better control the particles emitted by the at least one nozzle so that the actual state of the at least one screen formed by the particles approaches or reaches the desired state, optionally, a controllable air flow is applied to the particles to form the at least one screen.

In an alternative implementation, the at least one screen is formed by an airflow generated by the particles based at least on rotation of the movable at least one rotor.

In particular, since the at least one rotor is movable, the effect of the air flow generated by the rotation of the at least one rotor when the at least one rotor is moved to different positions on the particles emitted by the at least one nozzle may be different, so that the actual state of the at least one screen formed by the particles may be more flexibly controlled.

Specifically, each of the at least one rotor is comprised of a plurality of blades (e.g., blades of a fan, blades of an aircraft, etc.) that rotate about an axis.

Optionally, the at least one rotor is located on at least one first aircraft. The first aircraft may be any type of aircraft with rotors.

In this implementation, since the air flow generated by the rotation of at least one rotor is related to the motion parameters of said at least one rotor, which are accordingly related to the actual state of said at least one screen, the motion parameters of said at least one rotor are taken into account when determining the at least one injection parameter of said at least one injector.

In one possible scenario, the determining at least one jetting parameter of at least one jet forming the at least one screen based on at least a desired state of the at least one screen, a location of the at least one jet for jetting particles forming the at least one screen, a property of the particles, comprises:

In this scenario, each of the at least one rotor has its own at least one motion parameter; when the at least one rotor is a plurality of rotors, at least one motion parameter of the plurality of rotors may be the same, or, alternatively, different. Wherein the at least one motion parameter of the at least one rotor includes, but is not limited to: direction of rotation, speed of rotation, angle of the at least one rotor. Wherein the angle is optionally the angle of the axis of the rotor relative to a reference plane (such as a horizontal plane).

In this scenario, optionally, the position of the at least one spray head is the relative position of the at least one spray head with respect to the at least one rotor. Or, the position of the at least one nozzle is an absolute position of the at least one nozzle, and the motion parameters of the at least one rotor further include: an absolute position of the at least one rotor.

In this case, the movement parameter of the at least one rotor may be a fixed value or a value that varies with some variable (e.g. time), and accordingly, when the movement parameter of the at least one rotor varies with some variable, optionally also with these variables, the at least one injection parameter of the at least one injector.

In yet another possible scenario, the determining at least one jetting parameter of at least one jet forming the at least one screen based on at least a desired state of the at least one screen, a location of the at least one jet for jetting particles forming the at least one screen, a property of the particles, comprises:

In this scenario, correspondingly, the present embodiment further includes:

In this scenario, each of the at least one rotor has its own at least one motion parameter; when the at least one rotor is a plurality of rotors, at least one motion parameter of the plurality of rotors may be the same, or, alternatively, different. Wherein the at least one motion parameter of the at least one rotor includes, but is not limited to, at least one of: direction of rotation, speed of rotation, angle of the at least one rotor. Wherein the angle is optionally the angle of the axis of the rotor relative to a reference plane (such as a horizontal plane).

Wherein said controlling said at least one rotor based at least on at least one motion parameter of said at least one rotor is controlling said at least one rotor to rotate or not rotate at least with said at least one motion parameter. Specifically, the rotor is controlled not to rotate when the rotational speed of the rotor is determined to be 0, and otherwise the rotor is controlled to rotate.

In this scenario, optionally, the position of the at least one spray head is the relative position of the at least one spray head with respect to the at least one rotor. Alternatively, the position of the at least one nozzle tip is an absolute position, which is also taken into account in the above-mentioned determination of the at least one injection parameter of the at least one nozzle tip and the at least one motion parameter of the at least one rotor.

In this case, the at least one motion parameter of the at least one rotor may be a fixed value or a value that varies with some variable (e.g. time), and accordingly, when the at least one motion parameter of the at least one rotor varies with some variable, the at least one rotor is controlled in accordance with the at least one motion parameter of the at least one rotor and the variable.

It should be noted that in this scenario, control of the at least one rotor and control of the at least one spray head may be interrelated. For example, the at least one rotor is controlled to move to a corresponding state according to the at least one motion parameter, such as to reach a certain position, the at least one nozzle is controlled to spray the particles according to the at least one spray parameter, the at least one nozzle is controlled not to spray the particles when the at least one rotor does not reach the corresponding state, or the at least one nozzle is controlled to spray the particles according to the at least one motion parameter of the at least one rotor, and the at least one nozzle is controlled to spray the particles according to the at least one spray parameter which is changed along with the change of the at least one motion parameter of the at least one rotor during the control of the at least one rotor.

In this scenario, if the main body screen forming device is disposed separately from the at least one rotor, the screen forming device may send at least one motion parameter of the at least one rotor to the at least one rotor, carried in a control command, to control the at least one rotor.

In yet another possible scenario, the at least one rotor is located on at least one first aircraft. Accordingly, the motion parameter of the at least one rotor is related to a control parameter of the at least one first aircraft.

Optionally, the determining at least one spraying parameter of at least one sprayer according to at least a desired state of the at least one screen, a position of the at least one sprayer for spraying particles forming the at least one screen, and properties of the particles includes:

Correspondingly, this embodiment further includes:

In particular, each of the at least one first aircraft has its own starting position, and its own at least one control parameter. Wherein the starting position refers to the position of the first aircraft before the first aircraft is controlled. In particular, the at least one control parameter of the at least one first aircraft includes, but is not limited to: direction of rotation, speed of rotation, angle of rotation of at least one rotor of the at least one first aerial vehicle. Wherein each rotor of the first aircraft has its own direction of rotation, speed of rotation, angle, optionally the angle of the axis of the corresponding rotor with respect to a reference plane, such as a horizontal plane. It should be noted that the flight trajectory of a first aircraft is determined by the starting position of the first aircraft and the control parameters of the first aircraft.

Wherein the controlling the at least one first aircraft at least according to the at least one control parameter of the at least one first aircraft means controlling the at least one first aircraft to fly or hover at least with the at least one control parameter. In particular, at least one rotor of the at least one first aircraft is controlled to rotate or not to rotate with the at least one control parameter, respectively, under the effect of the at least one rotor the at least one first aircraft flies or hovers.

In this context, the at least one control parameter of the at least one first aircraft may be a fixed value or a value that varies with a number of variables (e.g. time), and correspondingly, when the at least one control parameter of the at least one first aircraft varies with a number of variables, the at least one first aircraft is controlled in dependence on the at least one control parameter of the at least one first aircraft and the variables.

It is noted that in this scenario, control of the at least one first aircraft and control of the at least one sprinkler may be interrelated. For example, the at least one first aircraft is controlled to move to the corresponding state with the at least one control parameter before controlling the at least one nozzle to spray the particles with the at least one spray parameter, the at least one nozzle is controlled not to spray the particles when the at least one first aircraft does not reach the corresponding state, or the at least one nozzle is controlled to spray or not to spray the particles with the at least one spray parameter that is changed in accordance with the change in the at least one control parameter of the at least one first aircraft during the control of the at least one first aircraft.

In this scenario, if the main screen forming device is separately configured from the at least one first aircraft, the screen forming device may carry at least one control parameter of the at least one first aircraft in a control command and send the control parameter to the at least one first aircraft, so as to control the at least one first aircraft.

In either scenario of this implementation, the first aircraft is optionally an Unmanned Aerial Vehicle (UAV).

In this embodiment, the at least one spray head may be in any position. Optionally, the position of the at least one spray head is fixed, or the at least one spray head is movable, i.e. the position of the at least one spray head may be varied.

In an alternative implementation, the at least one spray head is located on at least one second aircraft. Optionally, the second aircraft is a UAV. Further, the at least one spray head may optionally be located on at least one rotor protector of the at least one second aircraft.

In the scenario in which the at least one rotor is located on at least one first aircraft, the at least one second aircraft may be the same as, or different from, the at least one first aircraft.

For example, an aircraft has a rotor and three nozzles are arranged on the aircraft, in this scenario, particles emitted by the three nozzles on the aircraft form at least one screen under the action of an airflow generated by the rotation of the rotor of the aircraft, i.e., the at least one first aircraft is the same as the at least one second aircraft.

By way of further example, an aircraft a has four rotors, the aircraft a has a spray head, the aircraft B has a rotor, the aircraft B has three spray heads, that is, a total of five rotors and four spray heads are provided on the aircraft a and the aircraft B, and particles sprayed from the four spray heads form at least one screen under the action of airflow formed by the rotation of the five rotors, that is, the at least one first aircraft (i.e., the aircraft a and the aircraft B) is the same as the at least one second aircraft (i.e., the aircraft a and the aircraft B).

For another example, an aircraft a has two rotors, an aircraft B is near the aircraft a, the aircraft B has fixed wings and no rotors, and the aircraft B is provided with four nozzles, and particles ejected by the four nozzles on the aircraft B form at least one screen under the action of airflow formed by the rotation of the two rotors of the aircraft a, that is, the at least one first aircraft (i.e., aircraft a) is different from the at least one second aircraft (i.e., aircraft B).

By way of further example, an aircraft a has two rotors, an aircraft B is located near aircraft a, aircraft B has three rotors, and aircraft B is provided with four nozzles, and particles ejected by four nozzles on aircraft B form at least one screen under the action of an airflow formed by the rotation of a total of five rotors of aircraft B and two rotors of aircraft a, i.e., the at least one first aircraft (i.e., aircraft a and aircraft B) is different from the at least one second aircraft (i.e., aircraft B), and the at least one first aircraft (i.e., aircraft a and aircraft B) includes the at least one second aircraft (i.e., aircraft B).

In this embodiment, since the airborne state of the particles ejected by the at least one nozzle, such as the motion trajectory, the residence time in a certain location or area, and the like, may be influenced by environmental factors, the environmental information may optionally be considered in determining the at least one ejection parameter of the at least one nozzle.

Wherein the environmental information includes, but is not limited to: wind speed, wind direction. Optionally, the environment information further includes: temperature, humidity, etc. In addition, the environmental information is optionally detected by a corresponding sensor, such as a wind speed sensor, a wind direction sensor, a temperature sensor, a humidity sensor, etc.

It is noted that in the above described implementation of applying a controllable air flow to the particles to form the at least one screen, the influence of environmental factors is optionally also taken into account. For example, the determining at least one injection parameter of at least one injector for injecting particles forming the at least one screen based at least on a desired state of the at least one screen, a location of the at least one injector for injecting particles forming the at least one screen, a property of the particles, and at least one motion parameter of the at least one rotor comprises:

at least one spray parameter of the at least one spray head is determined based at least on a desired state of the at least one screen, a location of the at least one spray head for spraying particles forming the at least one screen, properties of the particles, and at least one motion parameter and environmental information of the at least one rotor.

Of course, since the controllable airflow generally has a much greater effect than the environmental factors, the effects of the environmental factors may also be disregarded in a corresponding implementation for ease of calculation.

In this embodiment, at the same time and/or after the particles ejected by the at least one nozzle form the at least one screen, optionally, the projection device is further controlled to project content onto the at least one screen.

In an optional implementation, 120 further includes: and controlling at least one projection device to project projection content to the at least one screen according to at least the state of the at least one screen and the content to be displayed of the at least one screen.

Wherein the state of the at least one screen may be a desired state or an actual state.

Wherein each screen in the at least one screen has respective content to be displayed, and the content to be displayed of each screen is the content to be displayed on the screen. Optionally, when the at least one screen is a plurality of screens, the content to be displayed of each screen is optionally independent or associated, for example, each screen displays a part of a picture, and the displays of the plurality of screens are combined into the picture.

The content to be displayed is optionally static content, such as pictures, or dynamic content, such as videos.

Wherein the at least one projection device is optionally a miniature projection device.

The at least one projection device has respective projection content, and the projection content of each projection device is related to the content to be displayed of the at least one screen. Specifically, the purpose of controlling the at least one projection device to project the projection content to the at least one screen is to display the content to be displayed of the at least one screen on the at least one screen. In one possible scenario, the at least one projection device is a projection device, the at least one screen is a screen, and the projection device is controlled to project projection content onto the screen; in yet another possible scenario, the at least one projection device is a projection device, the at least one screen is a plurality of screens, and the projection device is controlled to project the projection content to at least one of the plurality of screens according to a certain rule, for example, the projection device is controlled to project the same projection content to the plurality of screens at the same time, or the projection device is controlled to project the same or different projection content to each of the plurality of screens in turn; in yet another possible scenario, the at least one projection device is a plurality of projection devices, the at least one screen is a plurality of screens, and each projection device of the plurality of projection devices is controlled to project the projection content to at least one screen of the plurality of screens according to a certain rule.

Fig. 2 is a schematic structural diagram of a first embodiment of a screen forming apparatus provided in the present application. As shown in fig. 2, the screen forming apparatus 200 includes:

a determining module 21 for determining at least one spraying parameter of at least one spraying head for spraying particles forming at least one screen according to at least a desired state of the at least one screen, a position of the at least one spraying head, and properties of the particles;

a first control module 22 configured to control the injection of the at least one nozzle head at least according to at least one injection parameter of the at least one nozzle head.

In this embodiment, each screen has its own desired state. Specifically, the desired states include, but are not limited to: desired shape, desired position, desired pose, desired density distribution. Wherein the desired shape may be planar, such as a planar rectangle, or solid, such as a solid cylinder, etc. The desired position may be any position near the position of the at least one spray head; since each screen occupies a certain space, the desired position is optionally the center position of the corresponding screen. The desired attitude may be an attitude of a screen with respect to a reference plane, for example, when the screen is a plane, the desired attitude may be an angle of the plane with respect to a horizontal plane, and when the screen is a cylinder, the desired attitude may be an angle of an axis of the cylinder with respect to the horizontal plane. The desired density distribution comprises a fractional density of the particles in at least one region of a screen, the distribution density of the particles identifying how many of the particles are in a region; optionally, the desired density distribution is uniform, i.e. the fractional density of the particles is the same or approximately the same in all areas of a screen, or the desired density distribution is non-uniform.

It should be noted that the particles will not generally stay in the area where the at least one screen is located for a long time after being ejected from the at least one nozzle, but will spread after a certain time, but new particles ejected later by the at least one nozzle may supplement the particles ejected earlier by the at least one nozzle and spread from the area where the at least one screen is located, thereby maintaining the at least one screen in the desired shape at the desired position. In addition, due to the above instability of the particles, the actual state of the at least one screen formed by the particles ejected by the at least one nozzle may not exactly coincide with the desired state. Wherein, similar to the desired state, the actual state includes, but is not limited to: actual shape, actual position, actual attitude, actual density distribution.

In this embodiment, each of the at least one spray head has its own at least one spray parameter. Optionally, the at least one injection parameter includes, but is not limited to, at least one of: spray direction, spray flow, spray speed, spray pressure, and spray head area. Wherein the jetting direction indicates a direction in which a jetting head jets the particles; the ejection flow rate represents the volume of particles ejected by an ejection head per unit time; the jet velocity represents the velocity of particles jetted by a jet at the outlet of the jet; the injection pressure represents the pressure of the particles injected by a nozzle at the outlet of the nozzle; the spray head area represents the cross-sectional area at the outlet of a spray head. In particular, at least one jetting parameter of each of the at least one jetting head is controllable, i.e., the screen forming device 200 can be set or modified. For example, the at least one nozzle includes a nozzle a and a nozzle B, at least one of the nozzle a's spray direction, spray flow rate, spray speed, spray pressure, and nozzle area is controllable, such as the nozzle a's spray flow rate is controllable, and at least one of the nozzle B's spray direction, spray flow rate, spray speed, spray pressure, and nozzle area is controllable, such as the nozzle B's spray direction and spray speed is controllable.

In this embodiment, the first control module 22 controls the at least one nozzle to spray or not spray the particles according to at least one spraying parameter of the at least one nozzle, which means that the first control module 22 controls the at least one nozzle to spray or not spray the particles according to at least one spraying parameter. For example, the at least one nozzle head includes a nozzle head a and a nozzle head B, the determination module 21 determines that the spraying direction of the nozzle head a is a1, the spraying flow rate is B1, the spraying speed is c1, the spraying direction of the nozzle head B is a2, the spraying flow rate is B2, and the spraying speed is c2, the first control module 22 controls the nozzle head a to spray or not spray particles in the spraying direction a1, the spraying flow rate B1, and the spraying speed c1, and the nozzle head B to spray or not spray particles in the spraying direction a2, the spraying flow rate B2, and the spraying speed c2, or the determination module 21 determines that the spraying direction of the nozzle head a is a1, the spraying flow rate is B1, the nozzle head area is d1, and the spraying direction of the nozzle head B is a2, the spraying flow rate B2, and the spraying area is d2, the first control module 22 controls the nozzle head a to spray or not spray particles in the spraying direction a1, the spraying flow rate B1, the spraying area d1, and the spraying, The ejection flow rate b2, ejection area d2 ejected or not ejected particles. It should be noted that the first control module 22 controls a spray head not to spray particles when the determination module 21 determines that the spray flow rate or spray speed or spray pressure or spray area of the spray head is 0, otherwise the first control module 22 controls the spray head to spray particles.

In this embodiment, optionally, at least one of the spraying direction, the spraying flow rate, the spraying speed, the spraying pressure and the spraying area of each of the at least one spraying heads is known, that is, the spraying direction, the spraying flow rate, the spraying speed, the spraying pressure and the spraying area of each spraying head are set and the screen forming device 200 is not changed, accordingly, the determining module 21 determines the unknown at least one spraying parameter of each spraying head by combining the known at least one spraying parameter of each spraying head, and accordingly, the first control module 22 controls each spraying head to spray or not spray the particles by the known at least one spraying parameter and the at least one spraying parameter determined by the determining module 21. For example, the at least one head includes a head a and a head B, the ejection direction of the head a and the ejection direction of the head B are known, the determining module 21 determines the ejection flow rate, the ejection velocity, and the ejection flow rate, the ejection velocity of the head B of the head a, based on at least a desired state of the at least one screen, the position of the head a, the position of the head B, the property of the particles, and the ejection direction of the head a and the ejection direction of the head B, the first control module 22 controls the head a and the head B to respectively eject the respective known ejection directions, and the determining module 21 determines the respective ejection flow rates, the ejection velocities, and the ejection directions of the particles.

In this embodiment, the at least one injection parameter determined by the determining module 21 may be a fixed value or a value that varies with some variable (e.g., time), and accordingly, when the at least one injection parameter varies with some variable, the first control module 22 controls the at least one injection head to inject or not inject the particles according to the at least one injection parameter corresponding to the variable.

It should be noted that, in the present embodiment, the first control module 22 controls a nozzle to spray particles, and at least knows the spraying direction of the nozzle, and further knows at least two of the following spraying parameters of the nozzle: jet flow, jet speed, jet pressure and jet head area.

The screen forming apparatus of the present embodiment provides a scheme for forming a screen usable for projection by determining at least one spray parameter of at least one spray head for spraying particles forming the at least one screen based on at least a desired state of the at least one screen, a position of the at least one spray head for spraying the particles, and properties of the particles by a determination module, and controlling spraying of the at least one spray head based on at least one spray parameter of the at least one spray head by a first control module.

The screen forming device 200 of the present embodiment is further described below by some alternative implementations.

In particular, since the at least one rotor is movable, the actual state of the at least one screen formed by the particles can be more flexibly controlled by controlling the at least one rotor to move to different positions to change the effect of the airflow generated by the rotation of the at least one rotor on the particles emitted by the at least one nozzle.

In this implementation, since the air flow generated by the rotation of at least one rotor is related to the motion parameters of said at least one rotor, which are related to the actual state of said at least one screen, accordingly, the motion parameters of said at least one rotor are taken into account when determining the at least one injection parameter of said at least one injector by means of determination module 21.

In one possible scenario, the determining module 21 is specifically configured to:

Wherein the at least one motion parameter of the at least one rotor includes, but is not limited to, at least one of: direction of rotation, speed of rotation, angle of the at least one rotor.

In another possible scenario, the determining module 21 is specifically configured to:

In this scenario, accordingly, as shown in fig. 3, the screen forming apparatus 200 further includes:

a second control module 23 for controlling said at least one rotor at least as a function of at least one motion parameter of said at least one rotor.

In yet another possible scenario, the at least one rotor is located on at least one first aircraft. Accordingly, at least one motion parameter of the at least one rotor is related to a control parameter of the at least one first aircraft.

Optionally, the determining module 21 is specifically configured to:

Accordingly, as shown in fig. 4, the screen forming apparatus 200 further includes:

a third control module 24 for controlling the at least one first aircraft based at least on the at least one control parameter of the at least one first aircraft.

Wherein the at least one control parameter of the at least one first aircraft comprises: direction of rotation, speed of rotation, angle of rotation of at least one rotor of the at least one first aerial vehicle.

The specific implementation of each scene of the implementation manner can refer to the corresponding description in the screen forming method embodiment provided by the application.

In an alternative implementation, the at least one spray head is located on at least one second aircraft.

The specific implementation of the present implementation may refer to the corresponding description in the screen forming method embodiment provided in the present application.

Optionally, the determining module 21 is specifically configured to:

Wherein the environmental information includes, but is not limited to: wind speed, wind direction.

In this embodiment, at the same time and/or after the at least one screen is formed by the particles emitted from the at least one nozzle, optionally, the screen forming device 200 further controls the projection device to project the content onto the at least one screen.

In an alternative implementation, the screen forming apparatus 200 further includes: and the fourth control module is used for controlling at least one projection device to project the projection content to the at least one screen at least according to the state of the at least one screen and the content to be displayed of the at least one screen.

In this embodiment, the screen forming apparatus 200 may be disposed in a device in the form of software and/or hardware. Alternatively, the screen forming device 200 is provided in an aircraft. Wherein the aircraft is optionally one of the at least one first aircraft, or one of the at least one second aircraft.

Fig. 5 is a schematic structural diagram of a second embodiment of a screen forming apparatus provided in the present application. As shown in fig. 5, the screen forming apparatus 500 includes:

a processor (processor)51, a communication Interface (Communications Interface)52, a memory (memory)53, and a communication bus 54. Wherein:

the processor 51, the communication interface 52, and the memory 53 communicate with each other via a communication bus 54.

A communication interface 52 for communicating with an external device such as a spray head.

The processor 51 is configured to execute the program 532, and may specifically perform relevant steps in the above-mentioned screen forming method example.

In particular, the program 532 may include program code comprising computer operating instructions.

The processor 51 may be a central processing unit CPU or an application specific Integrated circuit asic or one or more Integrated circuits configured to implement the screen forming method embodiments.

The memory 53 stores a program 532. The memory 53 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. The program 532 may specifically be used to cause the screen forming apparatus 500 to perform the following steps:

For specific implementation of each step in the program 532, reference may be made to corresponding steps and corresponding descriptions in units in the foregoing screen forming method embodiments, which are not described herein again.

In this embodiment, the screen forming device 500 is optionally an aircraft. When the screen forming device 500 is an aircraft, the screen forming device 500 optionally further comprises (not shown in fig. 5): at least one of the at least one spray head, and/or at least one rotor.

FIG. 6 is a schematic structural diagram of an embodiment of an aircraft provided herein. As shown in fig. 6, the aircraft 600 includes:

at least one spray head 61 for spraying particles;

a determining module 62 for determining at least one spraying parameter of at least one spraying head 61 according to the desired state of at least one screen, the position of at least one spraying head 61, the property of the particles;

a first control module 63 for controlling the injection of at least one spray head 61 at least in dependence of at least one injection parameter of said at least one spray head.

In this embodiment, the aircraft 600 may be any type of aircraft. Optionally, the aircraft 600 is a UAV.

It should be noted that only two spray heads 61 are illustrated in fig. 6, and no limitation on the number of spray heads 61 in aircraft 600 is implied.

In this embodiment, the at least one screen is formed by particles ejected from at least one ejection head 61.

In this embodiment, each screen has its own desired state. Specifically, the desired states include, but are not limited to: desired shape, desired position, desired pose, desired density distribution. Wherein the desired shape may be planar, such as a planar rectangle, or solid, such as a solid cylinder, etc. The desired location may be any location near the location of the aircraft 600; since each screen occupies a certain space, the desired position is optionally the center position of the corresponding screen. The desired attitude may be an attitude of a screen with respect to a reference plane, for example, when the screen is a plane, the desired attitude may be an angle of the plane with respect to a horizontal plane, and when the screen is a cylinder, the desired attitude may be an angle of an axis of the cylinder with respect to the horizontal plane. The desired density distribution includes a distribution density of the particles in at least one region of a screen, the distribution density of the particles identifying how many of the particles are in a region; optionally, the desired density distribution is uniform, i.e. the distribution density of the particles is the same or approximately the same in all areas of a screen, or the desired density distribution is non-uniform.

It should be noted that the particles ejected from the at least one nozzle 61 do not generally stay in the area where the at least one screen is located for a long time, but rather spread after a certain time, but the particles ejected later from the at least one nozzle 61 can supplement the particles ejected earlier from the at least one nozzle and spread from the area where the at least one screen is located, so as to maintain the at least one screen in the desired shape at the desired position. In addition, due to the above instability of the particles, the actual state of the at least one screen formed by the particles ejected by the at least one nozzle 61 may not exactly coincide with the desired state. Wherein, similar to the desired state, the actual state includes, but is not limited to: actual shape, actual position, actual attitude, actual density distribution.

In this embodiment, each of the at least one spray head 61 has its own position, and when the at least one spray head 61 is a plurality of spray heads 61, the positions of the plurality of spray heads 61 may be the same or different.

In this embodiment, the position of the at least one nozzle 61 may be an absolute position of the at least one nozzle 61, or may be a relative position of the at least one nozzle 61 with respect to at least one other object. Wherein the at least one other object is optionally an object that has an effect on the particles ejected by the at least one nozzle 61 to form the at least one screen.

In this embodiment, at least one spray nozzle 61 may be located at any position on the aircraft 600, and in addition, the absolute position of at least one spray nozzle 61 will generally vary with the flight of the aircraft 600.

In this embodiment, each spray head 61 of the at least one spray head 61 has its own at least one spray parameter. Optionally, the at least one injection parameter includes, but is not limited to, at least one of: spray direction, spray flow, spray speed, spray pressure, and spray head area. Wherein the jetting direction indicates a direction in which a jetting head jets the particles; the ejection flow rate represents the volume of particles ejected by an ejection head per unit time; the jet velocity represents the velocity of particles jetted by a jet at the outlet of the jet; the injection pressure represents the pressure of the particles injected by a nozzle at the outlet of the nozzle; the spray head area represents the cross-sectional area at the outlet of a spray head. In particular, at least one injection parameter of each spray head 61 of the at least one spray head 61 is controllable, i.e., the aircraft 600 may be set or modified. For example, the at least one nozzle 61 includes a nozzle a and a nozzle B, at least one of the nozzle a's spray direction, spray flow rate, spray speed, spray pressure, and nozzle area is controllable, such as the nozzle a's spray flow rate is controllable, and at least one of the nozzle B's spray direction, spray flow rate, spray speed, spray pressure, and nozzle area is controllable, such as the nozzle B's spray direction and spray speed is controllable.

In this embodiment, the first control module 63 controls the at least one spray head 61 to spray the particles according to at least one spraying parameter of the at least one spray head 61, which means that the at least one spray head 61 is controlled to spray or not spray the particles according to at least the at least one spraying parameter. For example, the at least one nozzle 61 includes a nozzle a and a nozzle B, the determination module 62 determines that the spraying direction of the nozzle a is a1, the spraying flow rate is B1, the spraying speed is c1, the spraying direction of the nozzle B is a2, the spraying flow rate is B2, and the spraying speed is c2, the first control module 63 controls the nozzle a to spray or not spray particles in the spraying direction a1, the spraying flow rate B1, and the spraying speed c1, and the nozzle B to spray or not spray particles in the spraying direction a2, the spraying flow rate B2, and the spraying speed c2, or the determination module 62 determines that the spraying direction of the nozzle a is a1, the spraying flow rate B1, the nozzle area is d1, the spraying direction of the nozzle B2, the spraying flow rate B2, and the spraying area is d2, the first control module 63 controls the nozzle a to spray or not spray particles in the spraying direction a1, the spraying flow rate B1, and the spraying area d1, and the spraying direction of the nozzle B2 a, The ejection flow rate b2, ejection area d2 ejected or not ejected particles. It should be noted that the first control module 63 controls a nozzle not to eject particles when the determination module 62 determines that the ejection flow rate or ejection speed or ejection pressure or nozzle area of the nozzle is 0, otherwise the first control module 63 controls the nozzle to eject particles.

In this embodiment, optionally, at least one of the spray direction, the spray flow rate, the spray speed, the spray pressure, and the spray area of each spray head 61 of the at least one spray head 61 is known, i.e. has been set and the aircraft 600 is not modified, and accordingly, the unknown at least one spray parameter of each spray head 61 is determined in the determination module 62 in combination with the known at least one spray parameter of each spray head 61, and accordingly, the first control module 63 controls each spray head 61 to spray or not spray particles with the known at least one spray parameter and the at least one spray parameter determined by the determination module 62. For example, the at least one head 61 includes a head a and a head B, the ejection direction of the head a and the ejection direction of the head B are known, the determining module 62 determines the ejection flow rate, the ejection speed, and the ejection flow rate and the ejection speed of the head B based on at least a desired state of the at least one screen, the position of the head a, the position of the head B, the property of the particles, and the ejection direction of the head a and the ejection direction of the head B, the first control module 63 controls the head a and the head B to respectively eject the respective known ejection directions, and the determining module 62 determines the respective ejection flow rates, the ejection speeds, and whether to eject the particles.

In this embodiment, the at least one injection parameter determined by the determining module 62 may be a fixed value or a value that varies with some variable (e.g., time), and accordingly, when the at least one injection parameter varies with some variable, the first control module 63 controls the at least one injection head 61 to inject or not inject the particles according to the at least one injection parameter corresponding to the variable.

It should be noted that in the present embodiment, the first control module 63 needs to control one nozzle 61 to spray the particles, and at least needs to know the spraying direction of the nozzle 61, and further needs to know at least two of the following spraying parameters of the nozzle: jet flow, jet speed, jet pressure and jet head area.

The aircraft of the embodiment provides a solution for forming a screen usable for projection by determining at least one spraying parameter of at least one spraying head for spraying particles forming the at least one screen, based on at least a desired state of the at least one screen, a position of the at least one spraying head for spraying the particles, and properties of the particles, and controlling spraying of the at least one spraying head based on at least one spraying parameter of the at least one spraying head by a first control module.

The aircraft 600 of the present embodiment is further described below by some alternative implementations.

In this embodiment, the aircraft 600 may be any type of aircraft.

In an alternative implementation, as shown in fig. 7, the aircraft 600 further includes: at least one first rotor 64. It should be noted that the illustration of two first rotors 64 in fig. 7 is not meant to limit the number of first rotors 64 in the aircraft 600.

Optionally, the aircraft 600 further comprises: at least one rotor protector for protecting the at least one first rotor 64. Further, at least one spray head 61 may optionally be located on the at least one rotor protector.

In this implementation, the air flow generated by the rotation of the at least one first rotor 64 has an effect on the airborne state of particles ejected by the at least one ejection head 61, and accordingly, the determination module 62 optionally also takes into account the motion parameters of the at least one first rotor 64 when determining the at least one ejection parameter of the at least one ejection head 61.

In one possible scenario, the determining module 62 is specifically configured to: at least one injection parameter of at least one nozzle 61 is determined based on at least one desired state of at least one screen, a position of at least one nozzle 61, a property of the particles, and at least one motion parameter of at least one first rotor 64.

In this scenario, each first rotor 64 of the at least one first rotor 64 has its own at least one motion parameter; when the at least one first rotor 64 is a plurality of first rotors 64, at least one of the motion parameters of the plurality of first rotors 64 may be the same or, alternatively, different. Wherein the at least one motion parameter of the at least one rotor includes, but is not limited to, at least one of: direction of rotation, speed of rotation, angle of the at least one rotor. Wherein the angle is optionally the angle of the axis of the first rotor to a reference plane (such as a horizontal plane).

In this scenario, optionally, the position of the at least one spray head 61 is the relative position of the at least one spray head 61 with respect to the at least one first rotor 64. Alternatively, the position of the at least one spray head 61 is an absolute position of the at least one spray head 61, and the at least one motion parameter of the at least one first rotor 64 further includes: the absolute position of the at least one first rotor 64.

In this scenario, the at least one motion parameter of the at least one first rotor 64 may be a fixed value or a value that varies with some variable (e.g., time), and accordingly, when the at least one motion parameter of the at least one first rotor 64 varies with some variable, the at least one injection parameter of the at least one injection head 61 optionally also varies with those variables.

Fig. 8 is a physical schematic diagram of the implementation shown in fig. 7. As shown in fig. 10, the aircraft 600 has four rotors 64, and optionally, the aircraft 600 further includes: the rotor protectors 65 of the four rotors 64 are provided, and three spray heads 61 are distributed on the rotor protector 65 of one rotor 64. In addition, the portion of the figure that is filled with diagonal stripes is the fuselage of the aircraft 600. It should be noted that the determination module 62 and the first control module 63 are not illustrated in fig. 8 for simplicity of description.

In yet another possible scenario, in addition to the at least one first rotor 64 of the aircraft 600 itself, there may be at least one other rotor (referred to as a second rotor for ease of description) in the vicinity of the aircraft 600, and the motion parameters of the at least one second rotor may be controllable.

In this scenario, optionally, the determining module 62 is specifically configured to: determining at least one spray parameter of the at least one spray head and at least one motion parameter of at least one second rotor based at least on a desired state of at least one screen, a location of the at least one spray head, a property of the particles, and at least one motion parameter of the at least one first rotor; the distance of the at least one second rotor from the aircraft is within a first threshold.

Accordingly, as shown in fig. 9, the aircraft 600 further includes: a second control module 66 for controlling the at least one second rotor based at least on the at least one motion parameter of the at least one second rotor.

In particular, the distance at which the air flow generated by the rotation of the rotor at a distance from aircraft 600 within said first threshold value has an influence on the particles emitted by at least one spray head 61; the first threshold value may be preset by a user or estimated by the aircraft 600.

In particular, each of said at least one second rotor has its own at least one motion parameter; when the at least one second rotor is a plurality of second rotors, at least one motion parameter of the plurality of second rotors may be the same, or, alternatively, different. Wherein the at least one motion parameter of the at least one second rotor includes, but is not limited to, at least one of: direction of rotation, speed of rotation, angle of the at least one second rotor. Wherein the angle is optionally the angle of the axis of the second rotor to a reference plane (such as a horizontal plane).

Wherein the second control module 66 controls the at least one second rotor based at least on the at least one motion parameter of the at least one second rotor by controlling the at least one second rotor to rotate at least with or without rotation of the at least one motion parameter. Specifically, the second control module 66 controls a second rotor to not rotate when the determination module 62 determines that the rotational speed of the second rotor is 0, and otherwise controls the second rotor to rotate.

In this scenario, optionally, the position of the at least one spray head 61 is the relative position of the at least one spray head 61 with respect to the at least one second rotor. Alternatively, the position of the at least one spray head is an absolute position, which is also taken into account in the above-mentioned determination of the at least one injection parameter of the at least one spray head 61 and the at least one motion parameter of the at least one second rotor.

In particular, the absolute position of the at least one second rotor may be fixed, or alternatively, movable.

In this scenario, the at least one motion parameter of the at least one second rotor may be a fixed value or a value that varies with some variable (e.g., time), and accordingly, when the at least one motion parameter of the at least one second rotor varies with some variable, the second control module 66 controls the at least one second rotor based on the at least one motion parameter of the at least one second rotor and the variable.

It should be noted that in this scenario, control of the at least one second rotor by second control module 66 and control of the at least one spray head 61 by first control module 63 may be linked. For example, the second control module 66 controls the at least one spray head 61 to spray particles with the at least one spray parameter only when the second control module 66 controls the at least one second rotor to move to the respective state, the first control module 63 controls the at least one spray head 61 not to spray particles when the at least one second rotor does not reach the respective state, or the first control module 63 simultaneously controls the at least one spray head 61 to spray particles with the at least one spray parameter that varies as the at least one motion parameter of the at least one second rotor varies during the second control module 66 controls the at least one second rotor to move to the respective state.

In this scenario, second control module 66 may specifically send at least one motion parameter of the at least one second rotor to the at least one second rotor in a control command to control the at least one second rotor.

In yet another possible scenario, in addition to the at least one first rotor 64 of the aircraft 600 itself, there may be at least one other aircraft with a rotor (referred to as a third rotor for ease of description) in the vicinity of the aircraft 600.

In this scenario, optionally, the determining module 62 is specifically configured to: determining at least one injection parameter of at least one spray head 61 and at least one control parameter of at least one other aircraft based on at least the desired state of at least one screen, the position of at least one spray head 61, the properties of the particles, and at least one motion parameter of at least one first rotor 64 and the starting position of the at least one other aircraft; the at least one other aircraft is within a second threshold distance from the aircraft 600 and the at least one other aircraft has at least one third rotor.

Accordingly, as shown in fig. 10, the aircraft 600 further includes: a third control module 67 for controlling the at least one other aircraft based at least on at least one control parameter of the at least one other aircraft.

In particular, the distance from aircraft 600 at which the airflow generated by the rotation of the rotors of the other aircraft, which is within said second threshold value, has an effect on the particles emitted by at least one spray head 61; the second threshold value may be preset by a user or estimated by the aircraft 600.

In particular, each of the at least one other aircraft has its own starting position and at least one control parameter; when the at least one other aircraft is a plurality of other aircraft, the at least one control parameter of the plurality of other aircraft may be the same or, alternatively, different. Wherein the starting position refers to the position of the other aircraft before the other aircraft is controlled. Wherein the at least one control parameter of the at least one other aircraft includes, but is not limited to: the direction of rotation, the speed of rotation, the angle of rotation, optionally the angle of the axis of the respective third rotor with respect to a reference plane (such as a horizontal plane), of at least one third rotor of said at least one other aircraft. It should be noted that the flight trajectory of any other aircraft is determined by the starting position of that other aircraft and the above-mentioned control parameters of that other aircraft.

Wherein the third control module 67 controls the at least one other vehicle at least according to the at least one control parameter of the at least one other vehicle by controlling the at least one other vehicle to fly or hover at least according to the at least one control parameter. Specifically, third control module 67 controls at least one rotor of the at least one first aerial vehicle to rotate or not rotate with the at least one control parameter, and accordingly, the at least one first aerial vehicle flies or hovers under the influence of the at least one rotor.

In this scenario, the at least one control parameter of the at least one other aircraft may be a fixed value or a value that varies with some variable (e.g., time), and accordingly, when the at least one control parameter of the at least one other aircraft varies with some variable, the third control module 67 controls the at least one other aircraft based on the at least one control parameter of the at least one other aircraft and the variables.

It should be noted that in this scenario, the control of the at least one other aircraft by third control module 67 and the control of the at least one spray head 61 by first control module 63 may be interrelated. For example, the third control module 67 controls the at least one other vehicle to move to the respective state with the at least one control parameter before the first control module 63 controls the at least one nozzle 61 to spray particles with the at least one spray parameter, the first control module 63 controls the at least one nozzle not to spray particles when the at least one third rotor does not reach the respective state, or the first control module 63 simultaneously controls the at least one nozzle 61 to spray or not to spray particles with the at least one spray parameter that changes as the at least one control parameter of the at least one other vehicle changes during the control of the at least one other vehicle by the third control module 67.

In this scenario, the third control module 67 may carry at least one control parameter of the at least one other aircraft in a control instruction to send to the at least one other aircraft to control the at least one other aircraft.

In yet another alternative implementation, in which the aircraft 600 does not include a rotor, but rather includes a fixed wing, the airborne state of particles emitted by at least one spray head 61, such as the motion trajectory, residence time in a location or area, etc., is affected at least by environmental factors, and further may be affected by airflow generated by the rotation of rotors of other aircraft in the vicinity. Thus, the determination module 62 optionally takes into account environmental information when determining the at least one injection parameter of the at least one spray head 61.

Optionally, the determining module 62 is specifically configured to: at least one jetting parameter of at least one of the jets 61 is determined based on at least a desired state of at least one screen, a location of at least one of the jets 61, a property of the particles, and environmental information.

It should be noted that in implementations where the aircraft 600 includes at least one first rotor 64, the determination module 62 optionally also takes into account environmental factors. For example, the determining module 62 is specifically configured to: at least one injection parameter of at least one injection head 61 is determined based on at least a desired state of at least one screen, a position of at least one injection head 61, properties of the particles, and at least one motion parameter of at least one first rotor 64 and environmental information.

Of course, since the effect of the airflow generated by the rotation of the at least one first rotor 64 is typically much greater than the effect of the environmental factors, the effect of the environmental factors may also be disregarded in a corresponding implementation for ease of calculation.

In this embodiment, optionally, the aircraft 600 further controls the projection device to project the content onto the at least one screen while and/or after the particles ejected by the at least one nozzle 61 form the at least one screen.

In an alternative implementation, the aircraft 600 further comprises: and the fourth control module is used for controlling at least one projection device to project the projection content to the at least one screen at least according to the state of the at least one screen and the content to be displayed of the at least one screen.

Optionally, the aircraft 600 further comprises: the at least one projection device.

Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention is defined by the claims.

Claims

1. A method of forming a screen, the method comprising:

determining at least one jetting parameter of at least one jet forming the at least one screen for projection based on at least a desired state of the at least one screen, a location of the at least one jet for jetting particles forming the at least one screen, and a property of the particles;

controlling the injection of the at least one spray head at least according to at least one injection parameter of the at least one spray head; the at least one screen is formed by airflow generated by the particles based at least on rotation of the movable at least one rotor.

2. The method of claim 1, wherein the at least one rotor is located on at least one first aircraft.

3. The method of claim 1 or 2, wherein said determining at least one spraying parameter of at least one spraying head for spraying particles forming said at least one screen at least according to a desired state of said at least one screen, a position of said at least one spraying head for spraying said particles, properties of said particles comprises:

4. The method of claim 1 or 2, wherein said determining at least one spraying parameter of at least one spraying head for spraying particles forming said at least one screen at least according to a desired state of said at least one screen, a position of said at least one spraying head for spraying said particles, properties of said particles comprises:

determining at least one spraying parameter of at least one spraying head and at least one motion parameter of at least one rotor according to at least the expected state of at least one screen, the position of at least one spraying head for spraying particles forming the at least one screen, and the properties of the particles;

the method further comprises the following steps: controlling the at least one rotor based at least on at least one parameter of motion of the at least one rotor.

5. The method of claim 2, wherein said determining at least one jetting parameter of at least one jet forming the at least one screen based on at least a desired state of the at least one screen, a location of the at least one jet for jetting particles forming the at least one screen, a property of the particles comprises:

determining at least one injection parameter of at least one injector for injecting particles forming the at least one screen and at least one control parameter of the at least one first aircraft based at least on a desired state of the at least one screen, a location of the at least one injector, a property of the particles, and a starting location of the at least one first aircraft;

the method further comprises the following steps: controlling the at least one first aircraft based at least on at least one control parameter of the at least one first aircraft.

6. A screen forming apparatus, characterized by comprising:

a determining module for determining at least one jetting parameter of at least one jet forming particles of at least one screen for projection, based on at least a desired state of the at least one screen, a location of the at least one jet, the at least one jet being for jetting the particles, and a property of the particles;

the first control module is used for controlling the spraying of the at least one sprayer at least according to at least one spraying parameter of the at least one sprayer; the at least one screen is formed by airflow generated by the particles based at least on rotation of the movable at least one rotor.

7. An aircraft, characterized in that it comprises:

at least one spray head for spraying particles;

a determination module for determining at least one spray parameter of at least one spray head based on at least a desired state of at least one screen for projection, a location of the at least one spray head, and a property of the particles;

8. The aircraft of claim 7, further comprising: at least one first rotor.

9. The aircraft of claim 8, wherein the determination module is specifically configured to: determining at least one injection parameter of the at least one nozzle tip based at least on a desired state of at least one screen, a position of the at least one nozzle tip, a property of the particles, and at least one motion parameter of the at least one first rotor.